Parker Hannifin Home Security System 88 021610 01G User Manual
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Table of Contents  
User Information............................................................................................................................ 2  
Table of Contents .......................................................................................................................... 3  
Table of Tables............................................................................................................................... 5  
Table of Figures............................................................................................................................. 7  
Important User Information ........................................................................................................ 11  
Change Summary .................................................................................................................... 12  
Chapter 1 Introduction................................................................................................................ 16  
Aries Products—Overview ....................................................................................................... 17  
Compatible Parker Products .................................................................................................... 18  
Checking Your Shipment.......................................................................................................... 19  
Illustrations in this Installation Guide........................................................................................ 20  
Assumptions of Technical Experience ..................................................................................... 20  
Technical Support .................................................................................................................... 20  
Chapter 2 Mechanical Installation.............................................................................................. 21  
Environment & Drive Cooling ................................................................................................... 22  
Dimensions............................................................................................................................... 28  
Weight ...................................................................................................................................... 30  
Mounting Guidelines................................................................................................................. 31  
Chapter 3 Electrical Installation................................................................................................. 32  
Installation Safety Requirements.............................................................................................. 33  
System Installation Overview ................................................................................................... 34  
Power Supply ........................................................................................................................... 39  
Multiple Drive Installations........................................................................................................ 48  
Brake Relay (Optional)............................................................................................................. 50  
Regeneration Protection........................................................................................................... 54  
LEDs⎯Drive Status Indicators................................................................................................. 56  
Connector Descriptions............................................................................................................ 57  
Installation Test ........................................................................................................................ 72  
Chapter 4 Communications........................................................................................................ 73  
RS-232/485 Communications .................................................................................................. 74  
Chapter 5 Tuning......................................................................................................................... 78  
Servo Tuning Overview............................................................................................................ 79  
Position Variable Overview ...................................................................................................... 80  
Servo Response Overview....................................................................................................... 81  
Servo System Gains................................................................................................................. 83  
Servo Tuning Example............................................................................................................. 86  
Auto-Tuning.............................................................................................................................. 90  
Chapter 6 Command Reference................................................................................................. 91  
Aries Communications Set-up.................................................................................................. 92  
Description of Format............................................................................................................... 92  
Syntax – Letters and Symbols.................................................................................................. 93  
Syntax – General Guidelines.................................................................................................... 94  
Command Descriptions............................................................................................................ 95  
Chapter 7 Troubleshooting....................................................................................................... 156  
Troubleshooting Guidelines.................................................................................................... 157  
LEDs⎯Drive Status Indicators............................................................................................... 158  
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RS-232/485 Communication Problems.................................................................................. 159  
Error Messages ...................................................................................................................... 160  
Smart Encoders...................................................................................................................... 163  
Hall Sensor Configuration/Troubleshooting ........................................................................... 164  
Appendix A Additional Specifications .................................................................................... 168  
Amplifier.................................................................................................................................. 169  
Feedback................................................................................................................................ 169  
Protective Circuits .................................................................................................................. 170  
Cables .................................................................................................................................... 173  
Appendix B External Power-Dump Resistor Selection.......................................................... 174  
External Power-Dump Resistor Selection.............................................................................. 175  
Simplified Resistor Selection.................................................................................................. 175  
Calculating Resistance—Rotary Motors ................................................................................ 177  
Resistor Specifications⎯Rotary Motors................................................................................. 181  
Calculating Resistance—Linear Motors................................................................................. 183  
Resistor Specifications⎯Linear Motors ................................................................................. 187  
Appendix C Regulatory Compliance–UL and CE................................................................... 189  
System Installation Overview ................................................................................................. 190  
Regulatory Agencies .............................................................................................................. 200  
Standards of Compliance....................................................................................................... 200  
Appendix D Servo Tuning Flow Diagram................................................................................ 201  
Servo Tuning Flow Diagram................................................................................................... 202  
Appendix E VM26 Expansion Module ..................................................................................... 203  
Overview................................................................................................................................. 204  
Index ........................................................................................................................................... 205  
4
Aries User Guide  
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Table of Tables  
Table 1 Output Power Level..................................................................................................... 18  
Table 2 Ship Kit Items, AR-01xx through AR-13xx .................................................................. 19  
Table 3 Ship Kit Items, AR-20xE and AR-30xE ....................................................................... 19  
Table 4 Environmental Specifications, AR-01xx through AR-08xx, AR-20xE and AR-30xE... 23  
Table 5 Environmental Specifications, AR-13xx ...................................................................... 23  
Table 6 AR-02xx Power Dissipation......................................................................................... 24  
Table 7 AR-08xx Power Dissipation......................................................................................... 25  
Table 8 AR-13xx Power Dissipation......................................................................................... 26  
Table 9 AR-30xE Power Dissipation........................................................................................ 27  
Table 10 AR-01xx and AR-02xx Drive Dimensions ................................................................. 28  
Table 11 AR-01xx , AR-02xx, & AR-13xx Drive Dimensions................................................... 29  
Table 12 AR-20xE and AR-30xE Drive Dimensions ................................................................ 30  
Table 13 Drive Weight.............................................................................................................. 30  
Table 14 Motor Power Fuse Information.................................................................................. 41  
Table 15 Fuse Part Numbers ................................................................................................... 42  
Table 16 Drive Motor Power Inrush Current ............................................................................ 42  
Table 17 Output Power-Continuous and Peak......................................................................... 43  
Table 18 Wiring to Motors ........................................................................................................ 44  
Table 19 AR-20xE & AR-30xE DC Link Inductors ................................................................... 45  
Table 20 Brake Relay Operation.............................................................................................. 53  
Table 21 Regeneration Absorption .......................................................................................... 55  
Table 22 LED Status Indicator-Normal Operation.................................................................... 56  
Table 23 LED Status Indicator-Internal Drive Fault.................................................................. 56  
Table 24 MOTOR FEEDBACK Connector Pinout........................................................................... 63  
Table 25 Inputs—Encoder Inputs Electrical/Timing Characteristics ........................................ 63  
Table 26 MOTOR FEEDBACK Connector Pinout for Resolver Option .......................................... 66  
Table 27 Resolver excitation.................................................................................................... 66  
Table 28 Fault Output Operation.............................................................................................. 67  
Table 29 DRIVE I/O Connector Pinout........................................................................................ 69  
Table 30 Inputs—Enable and Reset Electrical/Timing Characteristics.................................... 70  
Table 31 Outputs—Encoder Outputs Electrical/Timing Characteristics................................... 70  
Table 32 Outputs— Fault outputs Electrical/Timing Characteristics........................................ 70  
Table 33 Inputs—Step & Direction Electrical/Timing Characteristics ...................................... 71  
Table 34 Inputs—Analog Electrical/Timing Characteristics ..................................................... 71  
Table 35 Terminal Emulator Configuration for RS-232/485 Communication........................... 74  
Table 36 RS-232 Connector Pinout ......................................................................................... 75  
Table 37 RS-485 Connector Pinout ......................................................................................... 75  
Table 38 Position Response Types ......................................................................................... 82  
Table 39 Commands-Description of Format ............................................................................ 92  
Table 40 Commands-Syntax.................................................................................................... 93  
Table 41 Syntax Guidelines ..................................................................................................... 94  
Table 42 Configuration Errors and Warnings......................................................................... 100  
Table 43 Current Foldback Ratings ....................................................................................... 102  
Table 44 Drive Control Mode ................................................................................................. 104  
Table 45 Peak Current Rating for Aries Drives...................................................................... 109  
Table 46 Error Status⎯Text Based Report ........................................................................... 131  
Table 47 Error Log⎯Enable/Disable ..................................................................................... 132  
Table 48 Terminal Emulator Configuration for RS-232/485 Communication......................... 159  
Table 49 Communications Port Errors and Resolutions........................................................ 160  
Table 50 Error Messages....................................................................................................... 163  
Table 51 Configuring Hall Sensors......................................................................................... 167  
Table 52 LED Short Circuit Fault............................................................................................ 170  
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Table 53 LED Drive Over-Temperature Fault ........................................................................ 170  
Table 54 Reset Temperature Values ..................................................................................... 171  
Table 55 LED Under-Voltage Fault........................................................................................ 171  
Table 56 LED Over-Voltage Fault.......................................................................................... 172  
Table 57 Simplified Selection of External Power-Dump Resistor .......................................... 176  
Table 58 Drive Capacitor Absorption ..................................................................................... 179  
Table 59 Drive Capacitor Absorption ..................................................................................... 185  
Table 60 Control Power Filter Selection................................................................................. 194  
Table 61 Mains Motor Power Filter Selection ........................................................................ 194  
Table 62 Enclosure Mounting Clamps ................................................................................... 196  
Table 63 Regulatory Agencies ............................................................................................... 200  
6
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Table of Figures  
Figure 1 Cabinet Losses for AR-02xx when connected to a Parker BE231D motor ............... 24  
Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor ................. 25  
Figure 3 Cabinet losses for AR-13xx when connected to a Parker MPM1421CSJ motor....... 26  
Figure 4 Cabinet losses for AR-30xE when connected to a Parker MPM1422CSJ motor...... 27  
Figure 5 Drive mounting for the AR-01xx & AR-02xx............................................................... 28  
Figure 6 Drive mounting for the AR-04xx, AR-08xx, and AR-13xx.......................................... 29  
Figure 7 Drive mounting for the AR-20xE and AR-30xE.......................................................... 30  
Figure 8 Panel Layout Dimensions for Aries Drives................................................................. 31  
Figure 9 Overview of System Installation for AR-01xx to AR-13xx.......................................... 34  
Figure 10 AR-01xx to AR-13xx Factory Installed Jumpers...................................................... 35  
Figure 11 Overview of System Installation for AR-20xE & AR-30xE ....................................... 36  
Figure 12 AR-20xE to AR-30xE Factory Installed Jumpers..................................................... 37  
Figure 13 Connectors on Aries Models AR-01xx to AR-13xx.................................................. 38  
Figure 14 Connectors on Aries Models AR-20xE & AR-30xE ................................................. 38  
Figure 15 Input Power Requirements ...................................................................................... 39  
Figure 16 Motor and Control Mains Power Supply Connection............................................... 40  
Figure 17 Output Power Connection........................................................................................ 44  
Figure 18 External DC Link Inductor Connection..................................................................... 45  
Figure 19 Mains Control Input Power....................................................................................... 47  
Figure 20 Multiple Drives AR-01xx to AR-13xx: Single Point Safety Earth ............................. 48  
Figure 21 Multiple Drives AR-20xE & AR-30xE: Single Point Safety Earth............................. 49  
Figure 22 Typical Brake Relay Connection.............................................................................. 50  
Figure 23 Brake Relay Connection for Parker Motors ............................................................. 51  
Figure 24 Brake Relay Connection for Non-Parker Motors ..................................................... 52  
Figure 25 External Regeneration Connection.......................................................................... 54  
Figure 26 Mains/Input Power Connector.................................................................................. 57  
Figure 27 Output (MOTOR) Power Connector ........................................................................... 59  
Figure 28 AR-20xE & AR30xE Control Connector................................................................... 61  
Figure 29 MOTOR FEEDBACK connector, female drive connector pinout.................................... 62  
Figure 30 MOTOR FEEDBACK connector, internal circuit diagram............................................... 62  
Figure 31 MOTOR FEEDBACK connector, female drive connector pinout.................................... 65  
Figure 32 MOTOR FEEDBACK connector for resolver option, internal circuit diagram................. 65  
Figure 33 DRIVE I/O connector, female drive connector pinout ................................................. 67  
Figure 34 DRIVE I/O connector, internal circuit diagram ............................................................ 68  
Figure 35 RS-232/485 Connections......................................................................................... 74  
Figure 36 RS-485 Multi-drop Connections............................................................................... 76  
Figure 37 Closed Loop and Open Loop System Comparison ................................................. 79  
Figure 38 Commanded Position............................................................................................... 80  
Figure 39 Integrator Windup (Without Using SGILIMCommand)........................................... 84  
Figure 40 Integrator Windup (using the SGILIMCommand)................................................... 85  
Figure 41 Clockwise/ Counter-clockwise rotation .................................................................... 99  
Figure 42 Time until current foldback occurs ......................................................................... 102  
Figure 43 Linear motor track .................................................................................................. 103  
Figure 44 Notch Filter Topology............................................................................................. 120  
Figure 45 Notch Filter Magnitudes ......................................................................................... 120  
Figure 46 Notch Filter A ......................................................................................................... 121  
Figure 47 Notch Lead Filter Break Frequency ....................................................................... 123  
Figure 48 Clockwise/ Counter-clockwise rotation .................................................................. 154  
Figure 49 Hall Connection Diagram....................................................................................... 165  
Figure 50 Motor Terminal Voltages (back EMF) and Hall Sensor Signals............................. 167  
Figure 51 Time until current foldback occurs ......................................................................... 173  
Figure 52 360° Bonding Techniques...................................................................................... 193  
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Figure 53 Typical LVD/EMC Installation, AR-02xx to AR-13xx.............................................. 197  
Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE............................................. 198  
Figure 55 Panel Layout Dimensions for the Aries Drive ........................................................ 199  
Figure 56 Servo Tuning Flow Diagram .................................................................................. 202  
Figure 57 VM26 Breakout Module.......................................................................................... 204  
8
Aries User Guide  
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Product Type...........................................Aries Family AR-01Ax, 02Ax, 04Ax,  
08Ax, 13Ax, 20AE, and 30AE  
................................................................Aries Family AR-01Sx, 02Sx, 04Sx,  
08Sx, 13Sx, 20SE, and 30SE  
The above product complies with the requirements of directives:  
•
•
•
EMC Directive 89/336/EEC  
Low Voltage Directive 73/23/EEC  
CE Marking Directive 93/68/EEC  
Provided the installation requirements described in this guide are met, and  
there are no special requirements of the installation and operating  
environment so that the application may be considered typical.  
The above equipment conforms with the protection requirements of Council  
Directive 89/336/EEC as amended by Directive 92/31/EEC on the  
approximation of the laws of the Member States relating to Electromagnetic  
Compatibility when installed, operated and maintained as intended. Also: -  
The above equipment conforms with the requirements of Council Directive  
73/23/EEC (Low Voltage Directive) as amended by Directive 93/68/EEC (CE  
Marking Directive), when installed, operated, and maintained as intended.  
In accordance with IEC 61800-3:1997 (Adjustable speed electrical power  
drive systems) this product is of the restricted sales distribution class which  
meets the needs of an industrial environment when installed as directed.  
However, further measures may need to be taken for use of the product in a  
domestic environment.  
The installation requirements are detailed in the Information supplied with the  
equipment. The equipment is sold only to competent system builders.  
Compliance is demonstrated by the application of the following standards:  
•
BS EN 61800-3 (1997) including Amendment A11 Adjustable speed  
electrical Power drive systems Part 3. EMC product standard  
including specific test methods.  
•
•
•
BS EN 50081-2 (1994) Electromagnetic compatibility—Generic  
emission standard Part 2. Industrial Environment.  
BS EN 61000-6-2 (1999) Electromagnetic compatibility Part 6-2:  
Generic Standards – Immunity for industrial environments.  
BS EN 61010-1 (1993) including Amendment A2. Safety  
requirements for electrical equipment for measurement, control, and  
laboratory use. Part 1 General Requirements.  
9
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Warning — Risk of damage and/or personal injury  
The Aries drives described in this guide contain no user-serviceable parts.  
Attempting to open the case of any unit, or to replace any internal  
component, may result in damage to the unit and/or personal injury. This  
may also void the warranty.  
Symbols  
Description  
Protective Earth Ground  
Functional Earth (Ground) Terminal  
Shield, Frame, or Chassis Terminal  
Caution Risk of Electrical Shock  
Caution, Refer to Accompanying Documentation  
10 Aries User Guide  
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Important User Information  
It is important that motion control equipment is installed and operated in such a way that all  
applicable safety requirements are met. It is your responsibility as an installer to ensure that you  
identify the relevant safety standards and comply with them; failure to do so may result in  
damage to equipment and personal injury. In particular, you should study the contents of this  
user guide carefully before installing or operating the equipment.  
The installation, set up, test, and maintenance procedures given in this User Guide should only  
be carried out by competent personnel trained in the installation of electronic equipment. Such  
personnel should be aware of the potential electrical and mechanical hazards associated with  
mains-powered motion control equipment—please see the safety warnings below. The individual  
or group having overall responsibility for this equipment must ensure that operators are  
adequately trained.  
Under no circumstances will the suppliers of the equipment be liable for any incidental,  
consequential or special damages of any kind whatsoever, including but not limited to lost profits  
arising from or in any way connected with the use of the equipment or this guide.  
Warning — High-performance motion control equipment is capable of producing rapid  
movement and very high forces. Unexpected motion may occur especially during the  
development of controller programs. KEEP WELL CLEAR of any machinery driven by stepper or  
servo motors. Never touch any part of the equipment while it is in operation.  
This product is sold as a motion control component to be installed in a complete system using  
good engineering practice. Care must be taken to ensure that the product is installed and used  
in a safe manner according to local safety laws and regulations. In particular, the product must  
be positioned such that no part is accessible while power may be applied.  
This and other information from Parker Hannifin Corporation, its subsidiaries, and authorized  
distributors provides product or system options for further investigation by users having technical  
expertise. Before you select or use any product or system, it is important that you analyze all  
aspects of your application and review the information concerning the product in the current  
product catalog. The user, through its own analysis and testing, is solely responsible for making  
the final selection of the system and components and assuring that all performance, safety, and  
warning requirements of the application are met.  
If the equipment is used in any manner that does not conform to the instructions given in this  
user guide, then the protection provided by the equipment may be impaired.  
The information in this user guide, including any apparatus, methods, techniques, and concepts  
described herein, are the proprietary property of Parker Hannifin or its licensors, and may not be  
copied disclosed, or used for any purpose not expressly authorized by the owner thereof.  
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to  
modify equipment and user guides without prior notice. No part of this user guide may be  
reproduced in any form without the prior consent of Parker Hannifin.  
11  
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Change Summary  
Revision G Changes  
This document, 88-021610-01G, supersedes 88-021610-1F. Changes  
associated with Aries User Guide revisions, and document clarifications and  
corrections are as follows:  
Topic  
Description  
Electrical Installation  
Added note to Motor Power Fuse Information table  
that 40A fuse is recommended regardless of  
single- or 3-phase input power.  
Added “Yellow & 5 Green (flashing)” for Encoder  
Loss to Internal Drive Faults table.  
Corrected connector p/n from ELFA13210E to  
OSTTJ075102 for Mains/Input Power Connector  
and Motor Connector.  
Removed reference to 120V motor power for  
single- or three-phase AR-20xE in AC Power  
Supply Connection.  
Added “—Encoder” to clarify title to section Motor  
Feedback Connector—Encoder.  
Corrected Motor Feedback Connector—Resolver  
schematic by removing pins 16 and 17.  
Corrected diode connection across motor cable in  
drawing in Motors without Full Wave Rectifiers.  
Command Reference  
Corrected “perception” to “misperception” in Servo  
Response Overview section, Stability topic.  
Added “Warning” to CONFIG errors E10, E11, and  
E12 because they are not faults.  
Changed start of range for DMPSCL to include 0,  
with info on using DREScommand with 0 value.  
Changed range maximum to 400 rps for DMTW,  
DMVLIM, DMVSCL, and SMVER.  
Added E28 to ERROR command; corrected E34  
link from TOTEMPto TDTEMP.  
Added DTHERM to list of commands stored with  
ESTORE. Alphabetized list.  
Added 3 and 4 to ranges, and additional  
information regarding OHALL 1 and OHALL 4 to  
OHALL command.  
Troubleshooting  
Added E28 to Error Messages table; corrected  
E34 link from TOTEMPto TDTEMP.  
Added “Yellow & 5 Green (flashing)” for Encoder  
Loss to Internal Drive Faults table.  
12 Aries User Guide  
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Revision F Changes  
This document, 88-021610-01F, supersedes 88-021610-1E. Changes  
associated with Aries User Guide revisions, and document clarifications and  
corrections are as follows:  
Topic  
Description  
Command Reference  
Additions to ERES, SFB, and TREVcommands for  
Aries Resolver option.  
Added TIDACand TIQACcommands.  
Corrected DCMDZsyntax.  
Corrected ranges for DMTIC, DMTIP, DMTKE,  
DMTRES, and ERES.  
Aries Names  
Updated part number descriptions to include  
Resolver and Powerlink Options  
LEDs—Drive Status  
Indicators  
Updated to include Autorun mode.  
Resolver option  
Added Motor Feedback Connector pinout, circuit  
diagram, and resolver excitation frequency.  
Error Messages  
Added E50, E51, and E52 error messages  
Revision E Changes  
This document, 88-021610-01E, supersedes 88-021610-1D. Changes  
associated with Aries User Guide revisions, and document clarifications and  
corrections are as follows:  
Topic  
Description  
AC Power Supply  
Connection  
Clarified jumpering two phases of the motor input  
power to the control input power allows for a  
single AC connection.  
Drive I/O Connector—  
Internal Circuit Diagram  
Corrected circuit for Step+ and Step-.  
Drive I/O Connector  
Step and Direction is not optically isolated, but is  
5V differential compatible (RS-422 logic level  
compatible).  
VM26 Breakout Module Added appendix describing the VM26 Breakout  
Module.  
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Revision D Changes  
This document, 88-021610-01D, supersedes 88-021610-1C. Changes  
associated with Aries User Guide revisions, and document clarifications and  
corrections are as follows:  
Topic  
Description  
Regulatory Compliance Aries is no longer cUL compliant.  
Output Power  
Part Number  
Corrected to 14.07A  
In Appendix C, Table 62 Enclosure Mounting  
Clamps, corrected part number to read R CLAMP  
KIT.  
Environment and Drive  
Cooling  
Removed separate Still Air and Moving Air  
temperature maximums. Now provides only an  
Ambient Air temperature.  
Revision C Changes  
This document, 88-021610-01C, supersedes 88-021610-1B. Changes  
associated with Aries User Guide revisions, and document clarifications and  
corrections are as follows:  
Topic  
Description  
Models  
Enhancement: Added models AR-13xx, AR-20xE,  
and AR-30xE, and relevant information.  
Regeneration  
Protection  
Enhancement: Added discussion and connections.  
DC Inductance Link  
Command Reference  
Enhancement: Added discussion and connections.  
Enhancements: Added the following commands:  
ALIGN, DMTSWT, DRES, ENCOFF, ESTORT, IANI,  
OHALL, P163  
Modified the following commands:  
DMTTCM—range  
DMTTCW—range  
DVMLIM—range and default  
DPWM—range and corrected mode information  
ERROR—now includes messages E47and E48  
SFB—In OS 2.10 or higher, SFB also functions to  
set feedback type  
TMTEMP—Added new reporting capabilities for  
OS 2.10 or higher  
Error Messages  
Enhancement: Added error messages E47and  
E48. See Chapter 7 Troubleshooting.  
14 Aries User Guide  
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Revision B Changes  
This document, 88-021610-01B, supersedes 88-021610-1A. Changes  
associated with Aries User Guide revisions, and document clarifications and  
corrections are as follows:  
Topic  
Description  
Fault Operation  
Enhancement: Added a discussion about fault  
operations for the DRIVE I/O connector.  
DRIVE I/O connector-  
internal circuit diagram  
Correction: Simplified the circuit diagram for the  
Enable input.  
Inputs—Enable and  
Reset  
Enhancement: Added specifications detailing  
electrical and timing characteristics on the DRIVE  
I/O connector.  
Outputs—Encoder  
Enhancement: Added specifications detailing  
electrical and timing characteristics on the DRIVE  
I/O connector.  
Inputs—Step &  
Direction  
Enhancement: Added specifications detailing  
electrical and timing characteristics on the DRIVE  
I/O connector.  
Inputs--Analog  
Enhancement: Added specifications detailing  
electrical and timing characteristics on the DRIVE  
I/O connector.  
RS-485 Communication Correction: Both RS-485 channels are Tx/Rx.  
Tuning  
Enhancements: Added Chapter 5 Tuning,  
describing servo tuning.  
Added Appendix D Servo Tuning Flow Diagram.  
Command Reference  
Enhancements: Added the following commands:  
DMTD, DMTJ, DNOTAD, DNOTAF, DNOTAQ, DNOTBD,  
DNOTBF, DNOTBQ, DNOTLD, DNOTLG, SGVF.  
Modified CONFIG—now includes error messages  
E13-E18.  
Error Messages  
Enhancement: Added error messages E13-E18.  
See Chapter 7 Troubleshooting.  
15  
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Chapter 1 Introduction  
C H A P T E R O N E  
Introduction  
IN THIS CHAPTER  
Aries Products—Overview.........................................................................17  
Compatible Parker Products......................................................................18  
Checking Your Shipment...........................................................................19  
Illustrations in this Installation Guide .........................................................20  
Assumptions of Technical Experience.......................................................20  
Technical Support......................................................................................20  
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Aries Products—Overview  
The Aries drives are a family of super compact, super efficient digital servo  
drives. Their maximum continuous shaft power ranges from 100 Watts to  
3000 Watts (3kW). Ready for direct panel mounting, you can select the  
precise power level needed for your application.  
Aries Product Descriptions  
Aries Servo Drives can control the torque, velocity, and position of servo  
motors using a digital current loop. Control of Aries Drives is performed using  
controllers, which have standard ±10V torque command, ±10V velocity  
command, or 5V TTL step & direction interface.  
For Aries drives using the analog or step and direction command interface,  
configure the drives through RS-232/485 using the Aries Support Tool on a  
personal computer (PC), or other standard communication software. For  
Aries drives using the Ethernet Powerlink command interface, configure the  
drives through Ethernet using the ACR-View software on a PC. Many  
advanced features are standard on the product including “plug and play”  
capabilities with Aries-compatible motors.  
Aries Names  
The following diagram explains the Aries part numbers:  
AR – 01 A E  
Drive Type...............................................Aries  
Maximum Shaft Power............................01 = 100W  
02 = 200W  
04 = 400W  
08 = 750W  
13 = 1300W  
20 = 2000W  
30 = 3000W  
Command Interface ................................A = Analog  
S = Step & Direction  
P = Ethernet Powerlink  
Motor Feedback ......................................E = Encoder  
R = Resolver  
Input Power  
Motor Power  
AR-01xx, AR-02xx  
AR-04xx, AR-08xx, AR-13xx...................120/240 VAC single-phase mains  
motor power  
AR-20xE..................................................240 VAC single-phase or three-  
phase mains motor power  
AR-30xE..................................................240 VAC three-phase mains motor  
power only  
Control Power  
AR-01xx through AR-30xE......................120/240 VAC single-phase mains  
control power  
Chapter 1 Introduction 17  
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Output Power Level  
Servo Motor Drives  
In Table 1, the maximum current is given at 120/240 VAC input, which  
equates to a motor bus voltage of 170/340 VDC.  
Drive  
Continuous  
Current (RMS) Current  
(RMS)  
Peak  
Continuous Shaft  
Output Power  
AR-01xx  
AR-02xx  
AR-04xx  
AR-08xx  
AR-13xx  
AR-20xE  
AR-30xE  
1A  
3A  
100W, 0.13 hp*  
200W, 0.27 hp*  
400W, 0.53 hp*  
750W, 1.0 hp*  
1.75A  
3A  
5.25A  
9A  
4.50A  
6.3A  
10A  
16A  
13.5A  
14.07A  
30A  
1300W, 1.75 hp*  
2000W, 2.7 hp**  
3000W, 4.04 hp**  
48A  
*
Maximum rating at 240 VAC, single-phase  
** Maximum rating at 240 VAC, three-phase  
Table 1 Output Power Level  
Options  
For the latest additions, see our website at www.parkermotion.com.  
Compatible Parker Products  
Servo Controller  
(±10V torque or velocity mode)...............ACR series or other Parker  
controller  
Stepper Controller (S&D mode)..............ACR series or other Parker  
controller  
Software..................................................Aries Support Tool  
For information about cables, motors, etc., see “Chapter 2 Mechanical  
Installation”.  
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Checking Your Shipment  
Inspect your shipment carefully. You should have received the corresponding  
ship kit along with your drive.  
Ship Kit Items  
The following items ship with the AR-01xx through AR-13xx drives:  
Part  
Part Number  
Aries Quick Reference Guide  
AR-01xx AR-02xx, AR-04xx, AR-08xx, & AR-13xx  
88-021594-01C  
R-Clamp  
Screw (8-32 3/8 inch)  
52-019734-01  
51-006055-01  
Aries compact disc containing the following:  
•
•
Aries Hardware Installation Guide  
Aries Support Tool  
88-021610-01  
Part number N/A  
Table 2 Ship Kit Items, AR-01xx through AR-13xx  
The following items ship with the AR-20xE and AR-30xE drives:  
Part  
Part Number  
Aries Quick Reference Guide  
AR-20xE and AR-30xE  
88-025222-01A  
R-Clamp  
Screw (8-32 3/8 inch)  
50-018127-01  
51-006055-01  
Aries compact disc containing the following:  
•
•
Aries Hardware Installation Guide  
Aries Support Tool  
88-021610-01  
Part number N/A  
Table 3 Ship Kit Items, AR-20xE and AR-30xE  
Motors  
You may have ordered a motor from one of the following families of Parker  
motors:  
•
•
•
•
•
•
SE/SM Series  
BE Series  
•
•
•
•
•
LXR Linear Series  
SL Linear Series  
ILM Linear Series  
SME Series  
NeoMetric Series  
J Series  
MaxPlus Rotary  
MaxPlus Linear  
SMN Series  
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Illustrations in this Installation Guide  
Typically, the illustrations in this guide show the Aries AR-01xx and the  
AR-30xE. These two models represent other models with similar features.  
AR-01xx represents models AR-01xx through AR13xE. Model AR-30xE  
represents the similar features of AR-20xE, as well.  
If there is a need to illustrate differences between drives, relevant drawings  
are shown for each drive.  
Assumptions of Technical Experience  
The Aries Drive is designed for industrial applications. To effectively install  
and troubleshoot the Aries Drive, you must have a fundamental  
understanding of the following:  
•
•
•
•
Motion control applications  
Electromechanical actuators  
Electrical concepts such as voltage, current, switches, etc.  
Serial Communication (RS-232 or RS-485) depending on which  
communications protocol you are using.  
Technical Support  
For solutions to your questions about implementing the Aries Drive, first refer  
to this manual. If you cannot find the answer in this documentation, contact  
your local Automation Technology Center (ATC) or distributor for assistance.  
If you need to talk to our in-house Application Engineers, please contact us  
at the telephone numbers listed on page 2.  
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Chapter 2 Mechanical Installation  
C H A P T E R T W O  
Mechanical  
Installation  
IN THIS CHAPTER  
Environment & Drive Cooling.....................................................................22  
Dimensions................................................................................................28  
Weight........................................................................................................30  
Mounting Guidelines..................................................................................31  
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Environment & Drive Cooling  
The Aries drive operates in an ambient temperature range of 0°C (32°F) to  
45°C (113°F) ambient air temperature for all models except the AR-13xx.  
The AR-13xx operates in an ambient temperature range of 0°C (32°F) to  
40°C (104°F) ambient air temperature. The drive can tolerate atmospheric  
pollution degree 2. Only dry, non-conductive pollution is acceptable.  
Therefore, it is recommended that the drive be mounted in a suitable  
enclosure.  
For drive cooling, you must install the drive so that the heatsink fins are  
vertical. Figure 8 on page 31 shows the mounting orientation, as well as the  
minimum top, bottom, and side installation clearances.  
The Aries AR-20xE and AR-30xE models (2 and 3 kWs) employ internal fans  
for additional cooling capacity. The AR-20xE has one fan and the AR-30xE  
has two. The fans are located at the bottom of the drives. They draw air in  
from the bottom, force it up over the heatsink, and out the vents in the top of  
the drive. Fan speed is temperature-dependent in order to minimize audible  
noise and extend fan operating life.  
Notes  
•
Avoid installing heat-producing equipment directly below a drive.  
•
Make sure the ambient air temperature entering the drive or rising  
up to the drive is within acceptable ambient temperature limits.  
Under normal use, the temperature of air leaving the drive and  
heatsink may be 25°C (45°F) above ambient temperature.  
•
After installation, verify that the ambient air temperature directly  
below the top-most drive does not exceed the maximum Ambient Air  
Operating Temperature shown below. In addition, make sure that  
nothing obstructs the circulating airflow.  
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Environmental Specifications  
(AR-01xx, AR-02xx, AR-04xx,  
AR-08xx, AR-20xE, and AR-30xE)  
Operating Temperature,  
Maximum  
Ambient Air  
Minimum  
45°C (113°F)  
0°C (32°F)  
Storage Temperature  
Humidity  
–40°C to 85°C (–40°F to 185°F)  
0 to 95%, non-condensing  
15g, 11 ms half-sine  
10 to 2000 Hz at 2g  
Shock  
Vibration  
Pollution Degree  
Installation Category  
2 (per IEC 61010)  
2 (per IEC 61010)  
Table 4 Environmental Specifications, AR-01xx through AR-08xx, AR-20xE and AR-30xE  
Environmental Specifications  
(AR-13xx)  
Operating Temperature,  
Maximum  
Ambient Air  
Minimum  
40°C (104°F)  
0°C (32°F)  
Storage Temperature  
Humidity  
–40°C to 85°C (–40°F to 185°F)  
0 to 95%, non-condensing  
15g, 11 ms half-sine  
10 to 2000 Hz at 2g  
Shock  
Vibration  
Pollution Degree  
Installation Category  
2 (per IEC 61010)  
2 (per IEC 61010)  
Table 5 Environmental Specifications, AR-13xx  
Cabinet Cooling  
For cabinet cooling calculations, use Table 6 and Table 7 to determine the  
power dissipation per drive.  
AR-02xx  
The power dissipation in Table 6 for the AR-02xx has been measured using  
the Parker BE231D motor.  
Chapter 2 Mechanical Installation 23  
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Figure 1 Cabinet Losses for AR-02xx when connected to a Parker BE231D motor  
Shaft Power  
Voltage  
120 VAC  
240 VAC  
0W*  
15W  
32W  
20W  
25W  
44W  
200W  
34W  
47W  
*
Drive enabled, zero torque.  
Table 6 AR-02xx Power Dissipation  
AR-08xx  
The power dissipation in Table 7 for the AR-08xx has been measured using  
the Parker BE343J motor.  
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Figure 2 Cabinet losses for AR-08xx when connected to a Parker BE343J motor  
Shaft Power  
Voltage  
120 VAC  
240 VAC  
0W*  
13W  
24W  
200W  
42W  
60W  
700W  
60W  
73W  
*
Drive enabled, zero torque.  
Table 7 AR-08xx Power Dissipation  
AR-13xx  
The power dissipation in Table 8 for the AR-13xx has been measured using  
the Parker MPM1421CSJXXXN motor.  
Chapter 2 Mechanical Installation 25  
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Figure 3 Cabinet losses for AR-13xx when connected to a Parker MPM1421CSJ motor  
Shaft Power  
Voltage  
120 VAC  
240 VAC  
0W*  
14W  
25W  
700W  
82W  
95W  
1300W  
130W  
146W  
*
Drive enabled, zero torque.  
Table 8 AR-13xx Power Dissipation  
AR-30xE  
The power dissipation in Table 9 for the AR-30xE has been measured using  
the Parker MPM1422CSJXXXN motor.  
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Figure 4 Cabinet losses for AR-30xE when connected to a Parker MPM1422CSJ motor  
Shaft Power  
Voltage  
0W*  
1500W  
3000W  
240 VAC  
35W  
103W  
172W  
*
Drive enabled, zero torque.  
Table 9 AR-30xE Power Dissipation  
Cabinet Cooling Calculations  
Use the motor’s speed torque curve to determine the torque when the motor  
is at running speed for your application. If the torque is not known, use the  
“knee” (where the peak-torque curve intersects the continuous-torque curve)  
of the graphed motion—this assumes the worst-case scenario for continuous  
motion.  
PMOTOR  
P
=
∗
(
1− EDRIVE  
)
LOSS  
EMOTOR  
PLOSS  
PMOTOR  
EMOTOR  
EDRIVE  
=
power dissipated to cabinet (Watts)  
=
=
shaft power of the motor (Watts)  
efficiency of motor (Percent), approximately 0.85  
=
efficiency of Aries drive (Percent), approximately 0.90  
Chapter 2 Mechanical Installation 27  
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Dimensions  
There are three basic housing sizes for the Aries drives. However, the height  
of the heatsink fins varies with each model, except for the AR-20xE and  
AR-30xE whose dimensions are identical. This section contains the  
dimensions for all Aries models.  
Drive Dimensions—AR-01xx & AR-02xx  
Figure 5 Drive mounting for the AR-01xx & AR-02xx  
Fin Height—  
in (mm)  
Outside Width  
(OW)—in (mm)  
Overall Depth  
with Cables—in (mm)  
Drive  
AR-01xx  
AR-02xx  
0.01 (0.25)  
0.375 (9.5)  
2.29 (58.2)  
2.65 (67.3)  
7.60 (193.0)  
7.60 (193.0)  
Table 10 AR-01xx and AR-02xx Drive Dimensions  
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Drive Dimensions—AR-04xx, AR-08xx, & AR-13xx  
Figure 6 Drive mounting for the AR-04xx, AR-08xx, and AR-13xx  
Fin Height—  
in (mm)  
Overall Width  
(OW)—in (mm)  
Overall Depth  
with Cables—in (mm)  
Drive  
AR-04xx  
AR-08xx  
AR-13xx  
0.625 (15.9)  
1.00 (25.4)  
2.00 (50.8)  
2.90 (73.7)  
3.28 (83.3)  
4.28 (108.7)  
7.60 (193.0)  
7.60 (193.0)  
7.60 (193.0)  
Table 11 AR-01xx , AR-02xx, & AR-13xx Drive Dimensions  
Chapter 2 Mechanical Installation 29  
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Drive Dimensions—AR-20xE & AR-30xE  
Figure 7 Drive mounting for the AR-20xE and AR-30xE  
Overall Depth  
with Cables—in  
(mm)  
Fin Height—  
in (mm)  
Overall Width  
(OW)—in (mm)  
Drive  
AR-20xE &  
AR-30xE  
1.48 (37.5)  
4.67 (118.5)  
9.27 (235.5)  
Table 12 AR-20xE and AR-30xE Drive Dimensions  
Weight  
Use Table 13 to determine the weight of your drive.  
Weight  
pounds (kg)  
Weight  
pounds (kg)  
Drive  
Drive  
AR-01xx  
AR-02xx  
AR-04xx  
AR-08xx  
1.68 (0.76)  
AR-13xx  
AR-20xE  
AR-30xE  
3.60 (1.63)  
7.35 (3.33)  
7.40 (3.36)  
1.90 (0.86)  
2.54 (1.15)  
2.82 (1.28)  
Table 13 Drive Weight  
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Mounting Guidelines  
The Aries drive is a vented product. To prevent material spilling into the  
drive, mount it under an overhang or in a suitable enclosure.  
Aries products are made available under “Restricted Distribution” for use in  
the “Second Environment” as described in EN 61800-3 1996, page 9.  
Cable Routing  
Route high power cables (motor and mains) at right angles to low power  
cables (communications and inputs/outputs). Never route high and low power  
cables parallel to each other.  
Panel Mounting  
The mounting clearance requirements are the same for all models of the  
Aries Drive. They are shown in Figure 8.  
Figure 8 Panel Layout Dimensions for Aries Drives  
Chapter 2 Mechanical Installation 31  
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Chapter 3 Electrical Installation  
C H A P T E R T H R E E  
Electrical  
Installation  
IN THIS CHAPTER  
Installation Safety Requirements...............................................................33  
System Installation Overview.....................................................................34  
Power Supply.............................................................................................35  
Multiple Drive Installations.........................................................................48  
Brake Relay (Optional) ..............................................................................50  
Regeneration Protection............................................................................54  
LEDs⎯Drive Status Indicators..................................................................56  
Connector Descriptions .............................................................................57  
Installation Test..........................................................................................72  
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Installation Safety Requirements  
Aries drives meet the requirements of both the European LVD (Low Voltage  
Directive) and EMC (Electromagnetic Compliance) directives when installed  
according to the instructions given within “Appendix C Regulatory  
Compliance–UL and CE”.  
As a rule, it is recommended that you install the drive in an enclosure to  
protect it from atmospheric contaminants and to prevent operator access  
while power is applied. Metal equipment cabinets are ideally suited for  
housing the equipment because they provide operator protection, EMC  
screening, and can be fitted with interlocks arranged to remove all hazardous  
motor and drive power when the cabinet door is opened.  
Do not arrange the interlocks to open circuit the motor phase connections  
while the system is still powered as this could damage the drive.  
Precautions  
During installation, take the normal precautions against damage caused by  
electrostatic discharges.  
•
•
Wear earth wrist straps.  
Include a mains power switch or circuit breaker within easy reach of  
the machine operator. Label, clearly, the switch or breaker as the  
disconnecting device.  
Auto-Configuration for Encoders  
The Aries drive recognizes “smart encoders” attached to Parker motors. You  
can apply power to the drive, and the drive reads all necessary motor  
parameters from the motor. The drive and motor are then ready to use.  
If a drive is swapped out for any reason, you can insert a replacement—the  
replacement drive automatically reads the motor parameters.  
Several drive related parameters may need additional configuration: CMDDIR,  
DCMDZ, and ADDR.  
Chapter 3 Electrical Installation 33  
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System Installation Overview  
The figures in this section illustrate the components necessary for electrical  
installation and configuration of the Aries drive. Figure 9 represents the  
installation of models AR-01xx through AR-13xx. Figure 11 shows the  
installation of models AR-20xE and AR-30xE, whose connectors differ from  
the other five models.  
The illustration shows the use of the Aries dongle (part number 71-021609-  
01), which connects the Aries drive to both a controller and a personal  
computer (PC). The dongle is for setup purposes only. Do not use the dongle  
for permanent installation.  
AR-01xx, AR-02xx, AR-04xx, AR-08xx, & AR-13xx  
Installation  
Figure 9 Overview of System Installation for AR-01xx to AR-13xx  
Warning — This product has been developed for industrial environments. Due  
to exposed high voltage terminals, this product must not be accessible to users  
while under normal operation.  
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To operate the Aries drive with separate control and motor AC input, remove  
the factory installed external jumpers. With the jumpers installed, apply  
power to the motor power mains only. Figure 10 shows the location of the  
factory installed jumpers.  
Figure 10 AR-01xx to AR-13xx Factory Installed Jumpers  
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AR-20xE and AR-30xE Installation  
Figure 11 Overview of System Installation for AR-20xE & AR-30xE  
Warning — This product has been developed for industrial environments. Due to  
exposed high voltage terminals, this product must not be accessible to users  
while under normal operation.  
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To operate the Aries drive with separate control and motor AC input, remove  
the factory installed external jumpers. With the jumpers installed, apply  
power to the motor power mains only. Figure 12 shows the location of the  
factory installed jumpers.  
Figure 12 AR-20xE to AR-30xE Factory Installed Jumpers  
Connector Locations  
All Aries drive models have identical DRIVE I/O and Motor Feedback  
connectors. However, the connectors for motor and control power, on the  
AR-20xE and AR-30xE differ from the other models due to their higher power  
capacity. The two power connectors on models AR-01xx through AR-13xx  
are removable. The two power connectors on Models AR-20xE and AR-30xE  
are non-removable. Descriptions of individual connectors and their  
specifications follow in this chapter. See “Connector Descriptions,” and in  
“Appendix A Additional Specifications.”  
Figure 13 shows the names and location of the connectors on Aries drive  
models AR-01xx through AR-13xx. Figure 14 shows them on the higher-  
power models AR-20xE and AR-30xE.  
Chapter 3 Electrical Installation 37  
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Figure 13 Connectors on Aries Models AR-01xx to AR-13xx  
Figure 14 Connectors on Aries Models AR-20xE & AR-30xE  
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Power Supply  
Input Power  
The mains motor power supply and control power supply for the Aries Drive  
must meet the following requirements.  
Model  
Requirements  
Motor Input Power  
AR-01xx, AR-02xx, AR-04xx,  
AR-08xx, AR-13xx  
(L1, L2)  
120/240 VAC, 50/60 Hz, single phase  
AR-20xE  
(L1, L2, L3)  
240 VAC, 50/60 Hz, single phase or  
three phase  
AR-30xE  
240 VAC, 50/60 Hz, three phase only  
(L1, L2, L3)  
Control Input Power  
All models  
(C1, C2)  
120/240 VAC, single phase  
Figure 15 Input Power Requirements  
Mains/Input Power Connector  
AR-01xx, AR-02xx,AR-04xx, AR-08xx, AR-13xx  
Connector Type.......................................Removable screw terminal  
Terminals ........................................7  
Pitch................... 0.200 in (5.08 mm)  
Wire Range....................12-26 AWG  
.......................................14-27 SWG  
................................(0.12-3.30 mm2)  
Wire Strip length .. 0.31 in (7.87 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
AR-20xE, AR-30xE  
Connector Type.......................................Non-Removable screw terminal  
Terminals ......................................10  
Pitch........................ 0.315 in (8 mm)  
Wire Range....................10-22 AWG  
.......................................12-23 SWG  
....................................(0.5-4.0 mm2)  
Wire Strip length .... 0.25 in (6.5 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
Chapter 3 Electrical Installation 39  
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AC Power Supply Connection  
Figure 16 on page 34 shows how to connect the external 120/240 VAC motor  
power source and control power sources to the drive.  
•
The AR-20xE can accept single-phase or three-phase 240V motor  
power. For single-phase connections, make no connection to  
terminal labeled L3.  
•
The AR-30xE can only accept three-phase 240V motor power.  
Use the terminal connector that is supplied with the drive. For the Protective  
Earth ground, make the connection directly by means of a low-impedance  
path less than or equal to 0.1 ohm (no fuses, etc.). Under normal operation,  
no current should flow through the Protective Earth connection.  
If desired, you can jumper two phases of the motor input power to the control  
input power for a single AC power connection. Jumpers are installed at the  
factory for this purpose. Remove the jumpers to apply separate control and  
motor mains power.  
Figure 16 Motor and Control Mains Power Supply Connection  
Note: See warnings on next page.  
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Warning — You must connect the drive’s protective conductor terminal, marked  
with the earth symbol , to a reliable system Protective Earth.  
Warning — The drive’s connector strip terminals have hazardous voltages when  
power is applied to the drive, and up to several minutes after power is removed.  
Lower voltages may still be present for several minutes after power is removed.  
During normal operation, these high voltage terminals must not be accessible to  
the user.  
Motor Power Fuse Information  
Aries drives have no user-serviceable internal fuses. For safety, you must  
provide a fuse in each of the AC Mains Motor power input lines. To  
determine the proper fuse type and size for your application, see Table 14.  
(For fuse recommendations for Control-power input lines, see “Control Power  
Supply” on page 46.)  
Drive  
AC Voltage Fuse Style  
Rating Fuse Type  
120 VAC  
240 VAC  
120 VAC  
240 VAC  
120 VAC  
240 VAC  
120 VAC  
240 VAC  
120 VAC  
240 VAC  
240 VAC  
240 VAC  
125 VAC Time Delay 10A  
250 VAC Time Delay 10A  
RK5 or better  
AR-01xx  
RK5 or better  
RK5 or better  
RK5 or better  
RK5 or better  
RK5 or better  
RK5 or better  
RK5 or better  
RK5 or better  
RK5 or better  
RK5 or better  
RK5 or better  
125 VAC Time Delay 10A  
250 VAC Time Delay 10A  
125 VAC Time Delay 20A  
250 VAC Time Delay 20A  
125 VAC Time Delay 20A  
250 VAC Time Delay 20A  
125 VAC Time Delay 30A  
250 VAC Time Delay 30A  
250 VAC Time Delay 40A  
250 VAC Time Delay 40A  
AR-02xx  
AR-04xx  
AR-08xx  
AR-13xx  
AR-20xE*  
AR-30xE*  
* The 40A fuse is recommended regardless of whether the input power is  
single-phase or 3-phase.  
Table 14 Motor Power Fuse Information  
Chapter 3 Electrical Installation 41  
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Table 15 lists part numbers (at time of publication) for suitable fuses from  
several manufacturers. These fuses are type RK5 (time delay fuses).  
Ferraz  
Shawmut  
(formerly  
Gould)  
Amps  
Bussmann  
Littelfuse  
10  
FRN-R-10  
FRN-R-20  
FRN-R-30  
FRN-R-40  
TR10R  
FLNR10  
20  
30  
40  
TR20R  
TR30R  
TR40R  
FLNR20  
FLNR30  
FLNR40  
Table 15 Fuse Part Numbers  
Drive Inrush Current  
The drive inrush current is limited by an internal thermistor that changes  
value with the ambient temperature. Drive inrush current is therefore  
dependent upon the temperature of the surrounding environment (Tamb). To  
determine the drive inrush current for your drive, see Table 16.  
AC Voltage  
Drive Inrush  
(25°C Tamb  
Drive Inrush  
(50°C Tamb  
Drive Type  
)
)
120 VAC  
34A  
73A  
AR-01xx  
240 VAC  
120 VAC  
240 VAC  
120 VAC  
240 VAC  
120 VAC  
240 VAC  
120 VAC  
240 VAC  
240 VAC  
240 VAC  
68A  
34A  
68A  
17A  
34A  
17A  
34A  
17A  
34A  
68A  
68A  
146A  
73A  
AR-02xx  
AR-04xx  
AR-08xx  
AR13xE  
146A  
36A  
73A  
36A  
73A  
36A  
73A  
AR-20xE  
AR-30xE  
155A  
155A  
Table 16 Drive Motor Power Inrush Current  
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Output Power  
Table 17 contains the continuous and peak output power ratings for all Aries  
drive models.  
Continuous Output  
Peak Output  
Drive  
Current (Amps,  
RMS)  
Shaft Power*  
(Watts, max)  
Current  
(Amps, RMS)  
Shaft Power  
(Watts, max)  
AR-01xx  
AR-02xx  
AR-04xx  
AR-08xx  
AR-13xx  
AR-20xE  
AR-30xE  
1.0  
1.75  
3.0  
4.5  
6.3  
10  
100  
3.0  
300  
200  
5.25  
9.0  
600  
400  
1200  
2250  
3900  
6000  
9000  
750  
13.5  
14.1  
30  
1300  
2000  
3000  
16  
48  
*
Maximum shaft power rating at 240 VAC  
Table 17 Output Power-Continuous and Peak  
Motor Connector  
AR-01xx, AR-02xx, AR-04xx,  
AR-08xx, AR-13xx  
Connector Type.......................................Removable screw terminal  
Terminals ........................................6  
Pitch................... 0.200 in (5.08 mm)  
Wire range .....................12-26 AWG  
.......................................14-27 SWG  
................................(0.12-3.30 mm2)  
Wire strip length...... 0.310 in (8 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
AR-20xE, AR-30xE  
Connector Type.......................................Non-Removable screw terminal  
Terminals ......................................10  
Pitch........................ 0.315 in (8 mm)  
Wire range .....................10-22 AWG  
.......................................12-23 SWG  
....................................(0.5-4.0 mm2)  
Wire strip length..... 0.25 in (6.5 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
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Output Power Connection  
Figure 17 shows how to connect the motor cable to the drive. Use the screw  
terminal connector that is installed in the drive. Current Parker motor cables  
are marked with white numbers to indicate the phases. Connect Motor Phase  
1 Æ U, 2 Æ V, and 3 Æ W, and Motor Safety Earth to the Protective Earth  
ground connector.  
Figure 17 Output Power Connection  
Table 18 contains information for making connections with Parker Hannifin  
motors.  
Hi-Flex/ PS/  
Gemini  
Legacy Parker  
Hannifin  
Phase  
Legacy MaxPlus  
U
V
1
2
3
Red/Yellow  
Red  
White/Yellow  
Black/Yellow  
Green/Yellow  
Black  
Blue  
W
Green/Yellow  
Green  
Table 18 Wiring to Motors  
Note: On models AR-20xE and AR-30xE, the Motor Brake Relay is on a  
separate connector. See Figure 22 on page 50.  
Warning — You must connect the Motor Safety Earth conductor terminal,  
marked with the earth symbol , to the motor cable’s motor-safety-earth wire  
(green/yellow).  
Note: See additional warning on next page.  
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Warning — The drive’s connector strip terminals have hazardous voltages  
when power is applied to the drive, and up to several minutes after power is  
removed. Lower voltages may still be present for several minutes after power  
is removed. During normal operation, these high voltage terminals must not  
be accessible to the user.  
External DC Link Inductor (Optional)  
The Aries AR-20xE and AR-30xE drives have two extra terminals that allow  
an external DC link inductor to be added if required. To add the DC link  
inductor, remove the factory installed shorting link, and connect the inductor  
as shown in Figure 18.  
Figure 18 External DC Link Inductor Connection  
If a drive is supplied from a low-impedance source (for example, a  
transformer that has a kVA rating more than 10 times the drive), the input line  
currents to the drive can be non-sinusoidal. They may have a peak that is  
two to three times the rms value, compared to 1.4 times for a sinusoidal  
waveform. This results in higher currents being drawn from the line at rated  
power and harmonics that might interfere with other equipment. The addition  
of a DC link inductor reduces the severity of these problems.  
Table 19 provides compatible DC link inductors for the Aries AR-20xE and  
AR-30xE.  
Recommended  
Inductance  
Drive Type  
DC Current Rating  
AR-20xE  
AR-30xE  
1.0 to 3.0 mH  
0.75 to 2.0 mH  
10A  
15A  
Note: Where within the recommended range, the larger inductance gives a better  
shape to the input current waveform, but at the expense of larger physical size.  
Table 19 AR-20xE & AR-30xE DC Link Inductors  
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Control Power Supply  
With Mains power applied to the Control power terminals C1 and C2, the  
drive’s internal control board remains powered when the primary motor AC  
power source (L1, L2 (L3)) is disconnected. When operated in this  
configuration, the Control power input performs a “keep-alive” function. The  
keep-alive circuit maintains several important functions, including  
communications, diagnostics, position feedback, and other logic functions,  
while removing power from the motor output connection. (See the following  
section, Fuse Information, for a complete list of Control power functions.)  
Remove the factory installed jumpers to use the product with separate  
control and motor mains AC power input.  
Fuse Information  
Fuse Rating.............................................1 Amp  
Fuse Type ...............................................Class CC (Bussmann KTK-R-1 or  
equivalent UL listed fuse)  
Input Voltage Range ...............................120/240 VAC, 50/60 Hz  
Input Current ...........................................0.2 Amps RMS  
Control Power Functions.........................Communications  
Diagnostics  
Motor position feedback  
Fault output in fault mode  
Brake relay in brake mode  
Reset input  
Control Power Connector  
AR-01xx, AR-02xx,  
AR-04xx, AR-08xx, AR-13xx  
Connector Type.......................................Removable screw terminal  
Terminals ........................................7  
Pitch................... 0.200 in (5.08 mm)  
Wire Range....................12-26 AWG  
.......................................14-27 SWG  
................................(0.12-3.30 mm2)  
Wire Strip length .. 0.31 in (7.87 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
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AR-20xE, AR-30xE  
Connector Type.......................................Non-Removable screw terminal  
Terminals ........................................8  
Pitch...................... 0.400 in (10 mm)  
Wire Range....................12-28 AWG  
.......................................14-29 SWG  
................................(0.12-3.30 mm2)  
Wire Strip length 0.250 in (6.35 mm)  
Control Power Connection  
Figure 19 shows how to connect the Control power source to the drive. Use  
the screw terminal connector that is supplied with the drive.  
Figure 19 Mains Control Input Power  
Warning — You must connect the drive’s protective conductor terminal,  
marked with the earth symbol , to a reliable system Protective Earth.  
Warning — The drive’s connector strip terminals have hazardous  
voltages when power is applied to the drive, and up to several minutes  
after power is removed. Lower voltages may still be present for several  
minutes after power is removed. During normal operation, these high  
voltage terminals must not be accessible to the user.  
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Multiple Drive Installations  
In a typical cabinet installation, a single mains line connects to a terminal bus  
inside the cabinet. Then from the terminal bus, make individual connections  
for Mains and Control power to the corresponding connector(s) on each  
drive. Be sure to install fuses for each drive between the terminal bus and the  
drive.  
Tie each drive’s Protective Earth  
conductor terminal directly to the system  
safety earth location as shown in Figure 20 (for models AR-01xx through AR-  
13xx) or Figure 21 (for models AR-20xE and AR-30xE). Under normal  
operation, no current should flow through the Protective Earth ground.  
Safety Earth Connections  
AR-01xx, AR-02xx, AR-04xx, AR-08xx, and AR-13xx  
For multiple drive installations, Parker Hannifin recommends a single point or  
“star” safety earth configuration. Figure 20 represents a typical star safety  
earth connection for Aries models AR-01xx through AR-13xx.  
Figure 20 Multiple Drives AR-01xx to AR-13xx: Single Point Safety Earth  
AR-20xE and AR-30xE  
Figure 21 represents a typical star safety earth connection for Aries models  
AR-20xE and AR-30xE. Note that the AR-20xE and AR-30xE Motor/Power  
connector has two Earth ground terminals⎯one for the motor and one for  
input power. Be sure to use the VAC INPUT POWER  
terminal.  
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Figure 21 Multiple Drives AR-20xE & AR-30xE: Single Point Safety Earth  
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Brake Relay (Optional)  
[The Brake Relay connection provides a safety feature for your motion  
control system, particularly for vertical applications. The drive acts as a  
control switch for the motor brake (if a brake is present). When 24V is applied  
from an outside power supply through the drive’s BK terminals, the motor  
brake is disabled. When the power supply is interrupted, or the drive faults or  
is disabled, the brake is enabled and stops shaft rotation. Connector and  
wiring information follow in this section.  
Brake Relay Connector  
AR-01xx, AR-02xx, AR-04xx,  
AR-08xx, AR-13xx  
Connector Type.......................................Removable screw terminal  
Terminals ........................................6  
Pitch................... 0.200 in (5.08 mm)  
Wire range .....................12-26 AWG  
.......................................14-27 SWG  
................................(0.12-3.30 mm2)  
Wire strip length...... 0.310 in (8 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
AR-20xE, AR-30xE  
Connector Type.......................................Non-Removable screw terminal  
Terminals ........................................8  
Pitch...................... 0.400 in (10 mm)  
Wire Range....................12-28 AWG  
.......................................14-29 SWG  
................................(0.12-3.30 mm2)  
Wire Strip length 0.250 in (6.35 mm)  
Brake Relay Connection  
On all models, this set of terminals is optically isolated from the drive’s  
internal logic.  
Figure 22 Typical Brake Relay Connection  
Important warnings:  
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Warning — You must connect the drive’s protective conductor terminal, marked  
with the earth symbol , to a reliable system Protective Earth.  
Warning — The drive’s connector strip terminals have hazardous voltages when  
power is applied to the drive, and up to several minutes after power is removed.  
Lower voltages may still be present for several minutes after power is removed.  
During normal operation, these high voltage terminals must not be accessible to  
the user.  
Motor with Full Wave Rectifiers  
Some Parker brake motors (BE, SM, SE, NeoMetric, and J series motors,  
serial numbers greater than 010904xxxxx) contain full wave rectifiers, so  
connection polarity is not an issue during installation.  
Connecting the Brake Relay  
1. Connect one red/blue brake wire (Parker Motor cable or equivalent) to  
the BK terminal of the Motor connector on Aries models AR-01xx to  
AR-13xx, or the Control connector on models AR-20xE and AR-30xE.  
2. Connect the second red/blue brake wire (Parker Motor cable or  
equivalent) to the 24V return on your power supply.  
3. Connect the +24 VDC power supply to the second BK terminal of the  
Motor connector on Aries models AR-01xx to AR-13xx, or the Control  
connector on models AR-20xE and AR-30xE.  
The following shows a typical application—connecting a motor brake to the  
relay terminals.  
Figure 23 Brake Relay Connection for Parker Motors  
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Motors without Full Wave Rectifiers  
When using Parker MaxPlus motors, Parker motors with serial numbers less  
than 010904xxxxx, or non-Parker motors, you must install a fly-back diode.  
Consult the specifications or the manufacturer of your motor.  
Connecting the Brake Relay  
1. Connect one red/blue brake wire (Parker Motor cable or equivalent) to  
the BK terminal of the Motor connector (Aries drive).  
2. Connect the second red/blue brake wire (Parker Motor cable or  
equivalent) to the 24V return on your power supply.  
3. Between the two red/blue wires, connect the fly-back diode. See  
Figure 24.  
4. Connect the +24 VDC power supply to the second BK terminal of the  
Motor connector (Aries drive).  
Figure 24 shows a typical installation.  
Figure 24 Brake Relay Connection for Non-Parker Motors  
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Relay Operation  
Drive Condition  
Enabled  
Relay State  
Closed (conducting)  
Open  
Faulted  
No AC power on L1 and L2*, or drive not  
enabled  
Open  
*
Mains Control power on C1 and C2 does not affect the relay. With mains power applied  
to C1 and C2, the relay remains open if AC power is not applied to the L1 and L2  
terminals.  
Table 20 Brake Relay Operation  
Relay Specifications  
Relay Type..............................................Solid State Relay  
Normally open  
Relay Maximum Rating...........................1 Amp at 24 VDC  
Warning — Do not exceed the ratings of the brake relay. If required,  
control a suitable external relay with this relay to meet your power  
requirements.  
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Regeneration Protection  
The Aries drive models AR-20xE and AR-30xE have internal regeneration  
power dump (dissipation) resistors. Models AR-01xx through AR-13xx do  
not. However, all models can utilize an external regeneration resistor.  
Regeneration Connection  
To use a external regeneration (power dump) resistor, connect your external  
resistor to the R+ and R- terminals as follows:  
•
•
For models AR-01x to AR-13xx, use the Mains connector.  
For models AR-20xE and AR-30xE, use the Control connector.  
Figure 25 illustrates the external regeneration resistor connections.  
Figure 25 External Regeneration Connection  
Important! For models AR-20xE and AR-30xE, you must remove the  
factory-installed link between RINT and R− when you connect the  
external regeneration resistor. (Otherwise the internal regeneration  
resistor will still be in the circuit, and its thermal protection circuit limits  
the performance).  
For information on selecting a suitable external regeneration (power dump)  
resistor, see “Appendix B External Power-Dump Resistor Selection.”  
Warning — The drive’s connector strip terminals are at hazardous voltages  
when power is applied to the drive, and up to several minutes after power is  
removed. Lower voltages may still be present for several minutes after power  
is removed.  
During normal operation, these high voltage terminals must not be accessible  
to the user.  
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Internal Regeneration Capability  
The internal regeneration resistor of the AR-20xE and AR-30xE is capable of  
dissipating 1kW for 1 second and up to 100 Watts continuously (depending  
upon heatsink temperature). If the calculated temperature of the internal  
regeneration resistor exceeds 150°C (302°F), the drive turns off the  
regeneration circuit and may experience an over-voltage fault.  
Similarly, models AR-01xx through AR-13xx may experience an over-voltage  
fault if the regeneration exceeds the absorbent capacity of the drive’s internal  
bus capacitors, as shown in Table 21.  
Regeneration Absorption  
The available absorption varies based on mains voltage and the drive’s  
internal capacitance. The drives can absorb the following amounts of  
regenerated energy in their internal capacitors:  
Drive  
Absorb (Joules)  
120 VAC  
Absorb (Joules)  
240 VAC  
AR-01xx  
AR-02xx  
AR-04xx  
AR-08xx  
AR-13xx  
AR-20xE  
AR-30xE  
28  
43  
57  
72  
9
14  
19  
24  
35  
50  
50  
104  
N/A  
N/A  
Table 21 Regeneration Absorption  
For more specifications about energy absorption by the Aries drive’s  
capacitors, see Table 58.  
For more information about selecting an external power-dump resistor, see  
“Appendix B External Power-Dump Resistor Selection”.  
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LEDs⎯Drive Status Indicators  
The drive has two bi-color LEDs. The LED on the left displays yellow or  
green colors; The LED on the right displays red or green colors. The  
following tables describe LED illumination states and the conditions they  
indicate.  
Normal Operation  
LED–Left  
LED–Right  
Green  
What it means  
Off  
Power on, enabled  
Yellow  
Green  
Power on, regeneration active  
Power on, disabled–No Fault  
Power on, boot process  
Waiting for OS download  
OS download in process  
Off  
Red  
Yellow  
Off  
Off  
Red (flashing)  
Red (flashing)  
Yellow (flashing)  
Table 22 LED Status Indicator-Normal Operation  
Internal Drive Faults  
LED–Left  
LED–Right  
Red  
What it means  
Yellows  
Control power  
mode active  
Yellow & 1 Green (flashing)  
Yellow & 2 Green (flashing)  
Yellow & 3 Green (flashing)  
Yellow & 4 Green (flashing)  
Yellow & 5 Green (flashing)  
Red  
Red  
Red  
Red  
Red  
Bridge Fault  
Feedback Fault  
Thermal Fault  
Other Fault  
Encoder Loss  
Table 23 LED Status Indicator-Internal Drive Fault  
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Connector Descriptions  
Motor Mains Power Connector  
The drive’s Mains screw terminal connector provides a connection for AC  
Mains power to your drive. (For connection information, see “Input Power” on  
page 39.) The connector differs between the two largest Aries models and  
the others. Specifications for the connectors follow in this section.  
On models AR-01xx through AR-13xx, the Mains connector also serves as a  
connector for Control power (C1 and C2) and a power dissipation resistor  
(R+ and R–). For more information on these additional connections, see  
“Control Power Supply” on page 46 “Regeneration Protection” on page 54.)  
This connector is removable.  
On models AR-20xE and AR-30xE, the Motor/Power connector serves as the  
connector for Motor Mains power (L1, L2, L3, and ), as well as for output  
power to the motor (U, V, W, and ) and a DC Link Inductor. For more  
information on these additional connections, see “Output Power” on page 43  
and “External DC Link Inductor (Optional)” on page 45. This connector is not  
removable.  
Figure 26 Mains/Input Power Connector  
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Mains/Input Power Connector  
AR-01xx, AR-02xx,  
AR-04xx, AR-08xx, AR-13xx.................Amphenol PCD: OSTTJ075102  
Parker Hannifin Part Number..................43-021069-01  
Connector Type.......................................Removable screw terminal  
Terminals ........................................7  
Pitch................... 0.200 in (5.08 mm)  
Wire Range....................12-26 AWG  
.......................................14-27 SWG  
................................(0.12-3.30 mm2)  
Wire Strip length .. 0.31 in (7.87 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
AR-20xE, AR-30xE ................................Molex: 39960-0110  
Parker Hannifin Part Number..................N/A  
Connector Type.......................................Non-Removable screw terminal  
Terminals ......................................10  
Pitch........................ 0.315 in (8 mm)  
Wire Range....................10-22 AWG  
.......................................12-23 SWG  
....................................(0.5-4.0 mm2)  
Wire Strip length .... 0.25 in (6.5 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
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Output Power Connector  
The drive’s Motor screw terminal connector provides output power to your  
motor. (For connection information, see “Output Power” on page 43.) The  
connector differs between the two largest Aries models and the others.  
Specifications for the connectors follow in this section.  
On models AR-01xx through AR-13xx, the Motor connector also serves to  
connect an external motor brake to the drive’s internal solid-state relay (BK).  
For information on this connection, see “Brake Relay (Optional)” on page 50.  
This connector is removable.  
On models AR-20xE and AR-30xE, the MOTOR/POWER connector serves as  
the connector for output power to the motor, as well as for Mains power (VAC  
Input Power) and a DC Link Inductor. For information on these additional  
connections, see “Input Power” on page 39 and “External DC Link Inductor  
(Optional)” on page 45. This connector is not removable.  
Figure 27 Output (MOTOR) Power Connector  
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Motor Connector  
AR-01xx, AR-02xx, AR-04xx,  
AR-08xx, AR-13xx .................................Amphenol PCD: OSTTJ075102  
Parker Hannifin Part Number..................43-021068-01  
Connector Type.......................................Removable screw terminal  
Terminals ........................................6  
Pitch................... 0.200 in (5.08 mm)  
Wire range .....................12-26 AWG  
.......................................14-27 SWG  
................................(0.12-3.30 mm2)  
Wire strip length...... 0.310 in (8 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
AR-20xE, AR-30xE ................................Molex: 39960-0110  
Parker Hannifin Part Number..................N/A (not replaceable)  
Connector Type.......................................Non-Removable screw terminal  
Terminals ......................................10  
Pitch........................ 0.315 in (8 mm)  
Wire range .....................10-22 AWG  
.......................................12-23 SWG  
....................................(0.5-4.0 mm2)  
Wire strip length..... 0.25 in (6.5 mm)  
Torque....7.0 in–lbs nom. (0.79 N-m)  
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AR-20xE & AR30xE Control Connector  
On the AR-20xE & AR 30xE models, the Control connector serves for three  
connections: an external power dump resistor (EXTERNAL REGEN), a control  
power circuit (CONTROL INPUT POWER), and a safety brake relay (BRAKE  
RELAY). The connector is an eight-position non-removable screw terminal.  
Specifications for the connector follow in this section.  
The Control connector has a factory-installed link between RINT and R− for an  
internal regeneration resistor, which provides thermal protection. For more  
information, see “Regeneration Protection” on page 54. For information on  
additional connections, see “Control Power Supply” on page 46 and “Brake  
Relay (Optional)” on page 50.  
Figure 28 AR-20xE & AR30xE Control Connector  
AR-20xE, AR-30xE ................................PCD: ELM021100  
Parker Hannifin Part Number..................N/A (not replaceable)  
Connector Type.......................................Non-Removable screw terminal  
Terminals ........................................8  
Pitch...................... 0.400 in (10 mm)  
Wire Range....................12-28 AWG  
.......................................14-29 SWG  
................................(0.12-3.30 mm2)  
Wire Strip length 0.250 in (6.35 mm)  
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Motor Feedback Connector—Encoder  
Inputs for the resolver feedback, motor thermal switch, and hall effects are  
located on the 15-pin Motor Feedback connector.  
Figure 29 MOTOR FEEDBACK connector, female drive connector pinout  
Important — Encoder inputs use a DS26LV32 differential line receiver.  
Parker Hannifin recommends 26LS31 (or compatible) differential line driven  
encoders.  
Single ended encoders are not compatible.  
Figure 30 MOTOR FEEDBACK connector, internal circuit diagram  
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Pinout—MOTOR FEEDBACK Connector  
Note: A box surrounding pins indicates a requirement for twisted pair wiring.  
Pin  
Signal  
Description  
ENC Z+ / Data+  
ENC Z– / Data–  
DGND  
1
Encoder Z Channel in  
Encoder Z Channel in  
Encoder power return  
+5 VDC Encoder power  
+5 VDC Hall power  
Hall power return  
2
3
+5 VDC  
4
+5 VDC  
5
DGND  
6
ENC A– / SIN–  
ENC A+ / SIN+  
Hall 1 / SCLK+ *  
Thermal+  
7
Encoder A Channel in  
Encoder A Channel in  
Hall 1 input  
8
9
10  
15  
11  
12  
13  
14  
Motor thermal switch/thermistor  
Motor thermal switch/thermistor  
Encoder B Channel in  
Encoder B Channel in  
Hall 2 input  
Thermal–  
ENC B / COS–  
ENC B+ / COS+  
Hall 2 / SCLK– *  
Hall 3  
Hall 3 input  
*
When using the SinCos protocol, pins 9 and 13 require twisted pair wiring.  
Table 24 MOTOR FEEDBACK Connector Pinout  
Inputs—Encoder  
Description  
Min  
Typical  
Max  
+7  
Units  
V
Common Mode Range  
Current—Encoder  
Current—Hall  
-7  
250  
250  
+200  
mA  
mA  
Differential Threshold Voltage  
-200  
mV  
Differential Termination  
Impedance  
120  
ohms  
Thermal Switch Current  
2
mA  
V
Thermal Switch Voltage  
Maximum (supplied)  
15  
Input Frequency  
(pre-quadrature)  
5
MHz  
Note: All parameters are at the connector pin.  
Table 25 Inputs—Encoder Inputs Electrical/Timing Characteristics  
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Connector Specification—Aries Drive  
Manufacturer...........................................KYCON or equivalent  
Connector Type.......................................15-Pin High Density  
D-Subminiature  
(female socket)  
KYCON Part Number..............................K66-E15S-NR  
Connector Specification—Mating Connector  
Mating connectors are not provided with Aries drives. Parker cables are  
available with mating connectors attached.  
Manufacturer...........................................AMP or equivalent  
Connector Type.......................................15-Pin High Density D-Subminiature  
(male connector)  
Cable Kit..................................................AMP Part Number 748473-1  
Includes: 748364-1 connector,  
shield, enclosure, and two jack  
screws  
(does not include contacts or  
ferrules)  
Contacts..................................................Crimp style  
30µ” Gold—AMP Part Number  
748333-4  
Gold Flash—Amp Part Number  
748333-7  
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Motor Feedback Connector—Resolver  
Inputs for the encoder feedback, motor thermal switch, and hall effects are  
located on the 15-pin Motor Feedback connector.  
Figure 31 MOTOR FEEDBACK connector, female drive connector pinout  
Figure 32 MOTOR FEEDBACK connector for resolver option, internal circuit diagram  
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Pinout—MOTOR FEEDBACK Connector for Resolver Option  
Note: A box surrounding pins indicates a requirement for twisted pair wiring.  
Signal  
Pin  
1
Description  
No connection  
No connection  
Thermal-  
—
2
—
3
Motor thermal switch/thermistor  
Resolver excitation signal  
Resolver excitation signal  
—
Reference+  
Reference-  
No connection  
Thermal-  
4
15  
5
6
Motor thermal switch/thermistor  
Motor thermal switch/thermistor  
SIN resolver feedback signal  
SIN resolver feedback signal  
—
Thermal+  
SIN–  
10  
7
SIN+  
8
No connection  
COS–  
9
11  
12  
13  
14  
COS resolver feedback signal  
COS resolver feedback signal  
—
COS+  
No connection  
No connection  
—
Table 26 MOTOR FEEDBACK Connector Pinout for Resolver Option  
Resolver Excitation  
Description  
Min  
Typical  
Max  
Units  
Excitation Frequency  
—
10  
—
KHz  
Note: All parameters are at the connector pin.  
Table 27 Resolver excitation  
Drive I/O Connector  
The inputs and outputs (I/O) located on the 26-pin DRIVE I/O connector are  
described below. For preparing your own cable, use differential pair wiring  
with a minimum of three turns-per-inch (3 TPI).  
Optical Isolation  
The following describes which differential I/O signals are optically isolated:  
•
Enable input is optically isolated with both Anodes (+) and Cathodes  
(–) available.  
•
Reset input is optically isolated with both Anodes (+) and Cathodes  
(–) available.  
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•
Fault output is optically isolated with both Collector (+) and Emitter  
(–) available.  
No Optical Isolation  
The following describes which I/O signals are not optically isolated:  
•
•
•
•
Step and Direction inputs are 5V differential compatible (RS-422  
logic level compatible.  
Encoder output signals are non-isolated RS-422 compatible  
differential drivers referenced to DGND.  
RS-485 is non-isolated RS-485 compatible differential signals  
referenced to DGND.  
AIN+ Analog input is single-ended non-isolated referenced to AIN–,  
and common mode referenced to DGND.  
Fault Operation  
When the Aries Drive is enabled and there are no fault conditions, the Fault  
circuit is closed (conducting). However, the following circumstances can trip  
the Fault circuit: a fault condition is present (see “Error Messages” on page  
160); the Enable circuit is open (see Figure 34); or, Mains power is removed  
from the drive.  
You can use the LED status indicators to help identify internal drive faults.  
For more information, see Table 23.  
Drive Condition  
Enabled  
Fault Output  
Closed (conducting)  
Open  
Faulted  
No AC power on L1 and L2*,  
or drive not enabled  
Open  
*
Mains Control power on C1 and C2 does not affect the fault circuitry. With mains power  
applied to C1 and C2, the fault circuit remains open if AC power is not applied to the L1  
and L2 terminals.  
Table 28 Fault Output Operation  
Figure 33 DRIVE I/O connector, female drive connector pinout  
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Figure 34 DRIVE I/O connector, internal circuit diagram  
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Pinout—DRIVE I/O Connector  
Note: A box surrounding pins indicates a requirement for twisted pair wiring.  
Pin  
Signal  
Description  
ENABLE+  
ENABLE–  
DGND  
1
Drive Enable input anode  
Drive Enable input cathode  
Digital ground  
21  
2
ENC A+  
ENC A–  
ENC B+  
ENC B–  
ENC Z+  
ENC Z–  
FAULT+ *  
FAULT–  
STEP+  
3
Encoder A Channel out  
Encoder A Channel out  
Encoder B Channel out  
Encoder B Channel out  
Encoder Z Channel out (Index +)  
Encoder Z Channel out (Index – )  
Fault Output collector  
Fault Output emitter  
4
5
6
7
8
9
16  
10  
5V Differential compatible (RS-422  
logic level compatible) position  
command  
STEP–  
11  
12  
Position command return  
DIRECTION+  
5V Differential compatible (RS-422  
logic level compatible) direction  
command  
DIRECTION–  
AIN+  
13  
14  
15  
17  
18  
23  
19  
20  
22  
24  
25  
26  
Direction command return  
Analog ±10V current command  
±10V return  
AIN–  
DGND  
Digital Ground  
RESET+  
RESET–  
DGND  
Drive Reset input anode  
Drive Reset input cathode  
Digital Ground  
DGND  
Digital Ground  
DGND  
Digital Ground  
DGND  
Digital Ground  
RS-232Rx/ RS-485+  
RS-232Tx/ RS-485–  
RS-232Rx/ RS-485+ Half-Duplex  
RS-232Tx/ RS-485– Half-Duplex  
*
Opto is ON and conducting when no fault condition is present. When a fault occurs, the  
opto turns OFF and the transistor does not conduct current. This simulates a normally  
open relay. For more information, see Table 20.  
Table 29 DRIVE I/O Connector Pinout  
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Inputs—Enable, Reset  
The drive Enable and Reset inputs are optically isolated inputs. Current is  
limited internally for input voltage control of 5 to 24 volt logic. The Anode (+)  
and Cathode (−) are on separate connector pins to allow significant flexibility  
in wiring to different styles of interface.  
Description  
Min  
–
Max  
1
Units  
ms  
Turn-on time  
Turn-off time  
–
1
ms  
Guaranteed on voltage  
Guaranteed off voltage  
Maximum forward voltage  
Maximum reverse voltage  
4
–
VDC  
VDC  
VDC  
VDC  
mA  
–
2
–
30  
–
-30  
3
Forward current  
12  
Note: All parameters are at the connector pin.  
Table 30 Inputs—Enable and Reset Electrical/Timing Characteristics  
Outputs—Encoder  
Description  
Min  
Typical  
Max  
Units  
Output Frequency  
(pre-quadrature)  
5
MHz  
Input Voltage High *  
Input Voltage Low *  
2.4  
V
V
0.5  
*
Based on 120Ω differential load impedance.  
Note: All parameters are at the connector pin.  
Note: Aries encoder is a hardware pass-through; therefore, you cannot change output  
resolution.  
Table 31 Outputs—Encoder Outputs Electrical/Timing Characteristics  
Outputs—Fault  
Description  
Min  
Typical  
Max  
30  
Units  
V
Blocking Voltage  
Continuous Load Current  
10  
mA  
Output Saturation Voltage  
(at 1.0 mA)  
1.0  
V
*
Based on 120Ω differential load impedance.  
Note: All parameters are at the connector pin.  
Table 32 Outputs— Fault outputs Electrical/Timing Characteristics  
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Inputs—Step & Direction  
Description  
Min  
-7  
Typical  
Max  
+7  
Units  
V
Common Mode Range  
Differential Threshold Voltage  
-200  
+200  
mV  
Differential Termination  
Impedance  
120  
ohms  
MHz  
Input Frequency (pre-quadrature)  
5
Note: All parameters are at the connector pin.  
Table 33 Inputs—Step & Direction Electrical/Timing Characteristics  
Inputs—Analog  
Description  
Min  
Typical  
Max  
Units  
Function Input Range  
Resolution  
-10  
+10  
V
14  
bits  
Impedance  
>20  
K ohms  
Note: All parameters are at the connector pin.  
Table 34 Inputs—Analog Electrical/Timing Characteristics  
Connector Specification—Aries Drive  
Manufacturer...........................................KYCON or equivalent  
Connector Type.......................................26-Pin High Density  
D-Subminiature  
(female socket)  
KYCON Part Number..............................K66-A26S-NR  
Connector Specification—Mating Connector  
Mating connectors are not provided with Aries drives. Parker cables are  
available with mating connectors attached.  
Manufacturer...........................................AMP or equivalent  
Connector Type.......................................26-Pin High Density D-Subminiature  
(male connector)  
Cable Kit..................................................AMP Part Number 748474-1  
Includes: 748365-1 connector,  
shield, enclosure, and two jack  
screws (does not include contacts or  
ferrules)  
Contacts..................................................Crimp style  
30µ” Gold—AMP Part Number  
748333-4  
Gold Flash—Amp Part Number  
748333-7  
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Installation Test  
Once you have made the necessary mechanical and electrical connections,  
you can test the drive. The Aries Support Tool contains the Auto Run Test  
Wizard, which exercises basic functions of the Aries drive.  
You must do the following before testing the drive:  
•
Configure the drive for the motor to which it is connected. Resolve  
any configuration errors before proceeding with the test.  
•
•
Enable the drive.  
If the Aries drive is connected to a controller, disable the controller’s  
servo loop.  
•
If the motor is connected to a load, disconnect the motor so that it is  
free to turn unimpeded.  
Safety Warning — High-performance motion control equipment is capable  
of producing rapid movement and very high forces. Unexpected motion may  
occur especially during the development of controller programs. KEEP WELL  
CLEAR of any machinery driven by stepper or servo motors. Never touch  
any part of the equipment while it is in operation.  
Testing the Aries Drive  
If the Aries drive has been installed correctly, the motor will spin at one  
revolution per second. If the motor does not spin, a wiring or configuration  
error possibly exists.  
1. Start the Aries Support Tool.  
2. Under Menu, click Operating System Update.  
3. Click Auto Run Test Wizard.  
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Chapter 4 Communications  
C H A P T E R F O U R  
Communications  
IN THIS CHAPTER  
Terminal Emulator Configuration...............................................................74  
Establishing Communications ...................................................................74  
RS-232 Communications...........................................................................75  
RS-485 Communications...........................................................................75  
RS-485 Multi-Drop.....................................................................................76  
RS-232/485 Dongle for Communications Setup .......................................77  
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RS-232/485 Communications  
The Aries drive has a single serial port, located on the DRIVE I/O connector on  
the front of the unit. This chapter refers to it as the COM port. The Aries drive  
uses ASCII and the RS-232 or RS-485 communication protocols.  
Terminal Emulator Configuration  
RS-232  
RS-485 *  
Rx, Tx, Gnd  
2-wire plus ground  
(Talk+, Talk–, Gnd)  
9600 baud  
8 data bits  
1 stop bit  
No parity  
9600 baud  
8 data bits  
1 stop bit  
No parity  
Full-duplex  
Half-duplex  
*
Twisted pair cabling recommended  
(e.g. Belden 9842)  
Table 35 Terminal Emulator Configuration for RS-232/485 Communication  
Establishing Communications  
The 26-pin DRIVE I/O connector (female D-subminiature) also functions as the  
COM port. You can use it with RS-232 or two-wire RS-485 communications.  
Figure 35 RS-232/485 Connections  
For setup purposes, you can connect a personal computer (PC) directly to  
the Aries drive through its COM port. Before attempting to communicate with  
the Aries drive, verify your PC’s connector pinout—make sure the cable  
connects the following:  
•
•
•
The PC’s transmit terminal (pin 3 of the 9-pin connector) to the  
Aries’s receive terminal (pin 25).  
The PC’s receive terminal (pin 2 of the 9-pin connector) to the  
Aries’s transmit terminal (pin 26).  
The PC’s ground terminal to the Aries’s ground terminal (pin 24).  
You can also use the Aries Drive I/O Dongle (sold separately), which allows  
a PC to simultaneously communicate with the Aries drive while also  
connected to a controller. For more information, see “RS-232/485 Dongle for  
Communications Setup” on page 77.  
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Depending on the communications protocol you are using, Aries can  
automatically configure itself.  
•
If using RS-232, Aries will automatically detect and configure itself  
for that communications protocol.  
•
If using RS-485 (two-wire) and the standard bias configuration,  
Aries will automatically detect and configure itself for that  
communications protocol.  
For automatic detection to work, the RS-485 network must be  
configured with an up bias on + (Talk) and a down bias on – (Talk).  
RS-232 Communications  
The Aries drive supports RS-232 communication. However, you cannot  
connect the drive in an RS-232 daisy chain.  
Pinout for RS-232 Communication  
Pin  
25  
26  
24  
Description  
Rx (receive). Connect to Tx on your computer.  
Tx (transmit). Connect to Rx on your computer.  
DGND* (logic ground). Connect to DGND on your computer.  
Maximum RS-232 cable length is 50 feet (15.25 meters).  
Many PC COM ports connect RS-232 ground to chassis ground.  
*
Table 36 RS-232 Connector Pinout  
RS-485 Communications  
The Aries is designed to use RS-485 half-duplex (two-wire). In addition, you  
can use it in multi-drop networks. For more information about multi-drop, see  
“RS-485 Multi-Drop” on page 76.  
Pinout for 2-wire RS-485 Communication  
Pin  
25  
26  
24  
Description  
Connect to Tx/Rx+ on your computer.  
Connect to Tx/Rx– on your computer.  
DGND* (logic ground). Connect to DGND on your computer.  
•
•
Maximum RS-485 cable length is 1000 feet (305 meters).  
Keep wires as short as possible. Termination resistors may be required on long  
cable runs.  
•
Connect RS-485 cables before applying power to the drive.  
(Reconnecting the cables with power applied may cause the drive to interpret  
intermittent connections as RS-232 hardware handshake signals; this may result  
in shutdown of the RS-485 interface. If this happens, reset the drive to re-enable  
the RS-485 interface.)  
•
Recommended cable: Belden 9842.  
*
Many PC COM ports connect RS-485 ground to chassis ground.  
Table 37 RS-485 Connector Pinout  
For connection information, see Figure 36.  
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Figure 36 RS-485 Multi-drop Connections  
RS-485 Multi-Drop  
RS-485 multi-drop lets you connect up to 99 Aries drives together (see  
Figure 36). Every drive is factory configured with a default address—zero (0).  
Using the ADDRcommand, you can assign a unique address to each drive.  
You must address each drive individually before connecting it to the multi-  
drop network.  
Notes  
•
For RS-485 to work correctly turn off the echo mode (ECHOØ).  
•
Zero (0) is not a valid address for a drive.  
Setting up Drives for a Multi-Drop Network  
1. Connect the drive you want to configure to a PC that is not part of the  
multi-drop network.  
2. Apply power to the drive.  
3. Using terminal emulation software, send the following command—  
Ø_ADDRi(where iis the address you want to assign the new unit).  
4. Remove power to the drive. The drive can now be installed in the  
network.  
5. After installing and connecting the drives to the multi-drop network, test  
each drive—use safe methods suitable for your particular application—  
to ensure each functions correctly.  
To test each unit, send the i_TREVcommand, where irepresents the  
address of a drive.  
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Warning — Risk of damage and/or personal injury When testing the  
installation of drives, use safe methods suitable for your particular  
application.  
Replacing a Unit in the Network  
If you need to replace a drive, do the following:  
1. Remove the old unit from the network.  
2. Connect the new drive to a PC that is not part of the multi-drop network.  
3. Apply power to the drive.  
4. Using terminal emulation software, send the following command—  
Ø_ADDRi(where iis the address you want to assign the new unit).  
5. If you can communicate with the old drive, upload its configuration using  
the Aries Support Tool. Alternatively, you can create a new configuration  
file using the Aries Support Tool. Then download the configuration file to  
the new drive.  
6. Remove power to the drive. The drive can now be installed in the multi-  
drop network.  
Sending Commands to a Specific Unit  
You can send ASCII commands from the master unit (for example a personal  
computer, PLC, or controller) to a specific unit in the multi-drop network.  
Prefix the command with the unit address and an underscore (_). For  
example, 3_ERES4ØØØsets the encoder resolution to 4000 for unit 3. The  
master unit can receive data from any unit in the network.  
Note: Make sure you can access each unit on the network. See “Setting up  
Drives for a Multi-Drop Network” on page 76.  
RS-232/485 Dongle for Communications Setup  
The Aries Dongle is a Y-cable (part number 71-021609-01) that breaks out  
the RS-232/485 portion of the DRIVE I/O cable so that you may simultaneously  
communicate with the Aries Drive while it is also connected with a motion  
controller.  
Note: When using the Aries Dongle, you must use a null-modem (cross-  
over) cable between your PC and the Aries drive  
Caution — The dongle is designed for setup and troubleshooting purposes  
only. Do not use the dongle in a permanent installation; it does not meet  
EMC requirements.  
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Chapter 5 Tuning  
CHAPTER FIVE  
Tuning  
IN THIS CHAPTER  
Servo Tuning Overview .............................................................................79  
Position Variable Overview........................................................................80  
Servo Response Overview........................................................................81  
Servo System Gains..................................................................................83  
Servo Tuning Example ..............................................................................86  
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Servo Tuning Overview  
The drive uses a digital control algorithm to control and maintain the position  
and velocity. The digital control algorithm consists of a set of numerical  
equations used to periodically (once every servo sampling period) calculate  
the value of the control output.  
The numerical terms of the equations consist of the current commanded and  
actual position values (including a few from the previous sampling period),  
and a set of control parameters. Each control parameter, commonly called a  
gain, has a specific function (for more information, see “Servo System Gains”  
on page 83). In addition, tuning is the process of selecting and adjusting  
gains to achieve optimal servo performance.  
When using the control algorithm described above, the whole servo system  
acts as a closed-loop system (see Figure 37). It is called closed loop  
because the control algorithm accounts for both the command (position,  
velocity, tension, etc.) and the feedback data from the encoder. Therefore, it  
forms a closed loop of information. When all gains are set to zero, the digital  
control algorithm is disabled.  
Figure 37 Closed Loop and Open Loop System Comparison  
To command a drive, controllers can provide ±10V analog output or step and  
direction signals. Once the digital control algorithm has calculated the digital  
control signal, the resultant digital value is sent out from the DSP (digital  
signal processor) to the DAC (Digital-to-Analog Converter). The DAC has an  
analog output range of -10V to +10V.  
It is possible for the digital control signal, calculated by the control algorithm,  
to exceed the DACs output range. If this occurs, the resulting analog output  
becomes saturated—where the analog output signal remains at the limit until  
the position error changes such that the control algorithm calculates a control  
signal less than the limit.  
The phenomenon of reaching the output limit is called controller output  
saturation. When saturation occurs, increasing the gains does not help  
improve performance because the DAC is already operating at its maximum  
level.  
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Position Variable Overview  
In a servo system, the controller uses two types of position information:  
commanded position and actual position. As these positions change with  
time, you can use the position values to determine if the system is positioning  
as you expect.  
Commanded Position  
The commanded position is calculated by the motion profile routine from the  
controller and it is updated every servo sampling period. Therefore, the  
commanded position is the intended position at any given point of time.  
To view the commanded position, use the TPC(Transfer Commanded  
Position) command; the response represents the commanded position at the  
instant the command is received.  
Figure 38 Commanded Position  
Actual Position  
The actual position of the motor/load is the drive’s response to the  
commanded position, and is measured with the feedback device. The profile  
resulting from the actual position across time is the position response (for  
more information, see “Servo Response Overview” on page 81).  
To view the actual position, use the TPE(Transfer Position of Encoder)  
command; the response represents the actual position at the instant the  
command is received.  
The difference between commanded and actual positions is called position  
error. To view the position error, use the TPER(Transfer Position Error)  
command; the response represents the position error at the instant the  
command is received.  
If the motor is not moving, the position error is called a steady-state position  
error. If a position error occurs when the motor is moving, it is called a  
position tracking error.  
Even when the system is properly tuned, the position error can still be quite  
significant due to a combination of factors such as the desired profile, the  
motor's limitation, the dynamic characteristics of the system, etc. For  
example, if the commanded velocity is higher than the maximum velocity the  
motor can physically achieve, the actual position will always lag behind the  
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commanded position. Under these circumstances, a position error will  
accumulate no matter how high the gains are set.  
Servo Response Overview  
Stability  
The first objective of tuning is to stabilize the system. The formal definition of  
system stability is when a bounded input is introduced to the system, the  
output of the system is also bounded. What this means to a motion control  
system is if the system is stable, and the position setpoint is a finite value,  
the final actual position of the system is also a finite value.  
In contrast, if the system is unstable, no matter how small the position  
setpoint or how little a disturbance (motor torque variation, load change,  
noise from the feedback device, etc.) the system receives, the position error  
will increase exponentially in almost all cases. In practice, when the system  
experiences instability, the actual position will oscillate in an exponentially  
diverging fashion as shown in Table 38.  
One common misperception is that whenever there is oscillation, the system  
is unstable. It is important to recognize that a system is considered stable if  
the oscillation finally diminishes (damps out), even if it takes a long time.  
Position Response Types  
Table 38 identifies the six basic types of position responses. The primary  
difference among these responses is due to damping—the suppression (or  
cancellation) of oscillation.  
Response  
Description  
Profile (position/time)  
Unstable  
Instability causes the  
position to oscillate in  
an exponentially  
diverging fashion.  
Over-  
damped  
A highly damped, or  
over-damped, system  
gives a smooth but  
slower response.  
Under-  
damped  
A slightly damped, or  
under-damped,  
system gives a slightly  
oscillatory response.  
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Response  
Description  
Profile (position/time)  
Critically  
damped  
A critically-damped  
response is the most  
desirable because it  
optimizes the trade-off  
between damping and  
speed of response.  
Oscillatory  
Chattering  
An oscillatory  
response is  
characterized by a  
sustained position  
oscillation of equal  
amplitude.  
Chattering is a high-  
frequency, low-  
amplitude oscillation  
that is usually audible.  
Table 38 Position Response Types  
Performance Measurements  
If you plot of the position response versus time, you can make a few  
measurements to quantitatively assess the performance of the servo. These  
three measurements are made before or shortly after the motor stops  
moving:  
•
Overshoot—The measurement of the maximum magnitude that the  
actual position exceeds the position setpoint. It is usually measured  
in terms of the percentage of the setpoint value.  
•
•
Rise Time—The time it takes the actual position to pass the  
setpoint.  
Settling Time—The time between when the commanded position  
reaches the setpoint and the actual position settles within a certain  
percentage of the position setpoint. (Note the settling time definition  
here is different from that of a control engineering text book, but the  
goal of the performance measurement is still intact.).  
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Servo System Gains  
Proportional Feedback Control (SGP)  
Proportional feedback is the most important feedback for stabilizing a servo  
system. When the controller uses proportional feedback, the control signal is  
linearly proportional to the position error (the difference between the  
commanded position and the actual position—see TPERcommand). The  
proportional gain is set by the Servo Gain Proportional (SGP) command.  
Proportional feedback can be used to make the servo system more  
responsive (stiff), as well as reduce the steady state position error.  
Because the control is proportional to the position error, whenever there is  
any disturbance (such as torque ripple or a spring load) forcing the load away  
from its commanded position, the proportional control can immediately output  
a signal to move it back toward the commanded position. This function is  
called disturbance rejection.  
If you tune your system using only the proportional feedback, increasing the  
proportional feedback gain (SGPvalue) too much will cause the system  
response to be oscillatory, under-damped, or in some cases unstable.  
Note: Do not set the proportional feedback gain (SGP) to zero, except when  
open-loop operation is desired.  
Velocity Feedback Control (SGV)  
Using velocity feedback control, the control signal is proportional to the  
feedback device's velocity (rate of change of the actual position). The Servo  
Gain Velocity (SGV) command sets the gain, which is in turn multiplied by the  
feedback device's velocity to produce the control signal. Because the velocity  
feedback acts upon the feedback device's velocity, its control action  
essentially anticipates the position error and corrects it before it becomes too  
large. Such control tends to increase damping and improve the stability of the  
system.  
A high velocity feedback gain (SGV) can also increase the position tracking  
error when traveling at constant velocity. In addition, setting the velocity  
feedback gain too high tends to slow down (over-damp) the response to a  
commanded position change.  
Integral Feedback Control (SGI)  
Using integral feedback control, the value of the control signal is integrated at  
a rate proportional to the feedback device position error. The rate of  
integration is set by the Servo Gain Integral (SGI) command.  
The primary function of the integral control is to overcome friction and/or  
gravity and to reject disturbances so that steady state position error is  
minimized or eliminated. This control action is important for achieving high  
system accuracy. However, if you can achieve acceptable position accuracy  
by using only the proportional feedback (SGP), then there is no need to use  
the integral feedback control.  
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Controlling Integral Windup  
If you are using integral control (SGI) and there is an appreciable position  
error that persists long enough during the transient period (time taken to  
reach the setpoint), the control signal generated by the integral action can  
end up too high; this saturates to the maximum level of the controller's  
analog control signal output. This phenomenon is called integrator windup  
(see Figure 39).  
Figure 39 Integrator Windup (Without Using SGILIM Command)  
After windup occurs, it takes time before the integrator output returns to a  
level within the limit of the controller's output. Such a delay causes excessive  
position overshoot and oscillation.  
The integral windup limit (SGILIM) command allows you to set the absolute  
limit of the integral. The commanded limit, in essence, turns off the integral  
action as soon as it reaches the limit; consequently, position overshoot and  
oscillation can be reduced (see Figure 40).  
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Figure 40 Integrator Windup (using the SGILIM Command)  
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Servo Tuning Example  
The example below illustrates how to experimentally obtain the highest  
possible proportional feedback (SGP) and velocity feedback (SGV) gains. For  
a Servo Tuning flow diagram, see “Appendix A Additional Specifications” on  
page 168.  
The motion command used for this example is a step command with a step  
size of 200. The plots shown are as they appear in the Aries Support Tool  
(X axis = time, Y axis = position).  
Note: The steps shown below (steps 1 to 11) represent the major steps of  
the process; the actual progression between these steps may require several  
iterations.  
Step 1  
For a starting trial, we set  
the proportional feedback  
gain (SGP) to .5. As you  
can see by the plot, the  
response is slow.  
In the next step, we should  
increase SGPuntil the  
response is slightly under  
damped.  
Step 2  
With SGPequal to 2, the  
response becomes slightly  
under damped (see plot).  
Therefore, we should  
introduce the velocity  
feedback gain (SGV) to  
damp out the oscillation.  
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Step 3  
Step 3  
With SGVequal to 2, the  
response is fairly well  
damped (see plot).  
At this point, the SGP  
should be raised again  
until oscillation or  
excessive overshoot  
appears.  
Step 4  
As we iteratively increase  
SGPto 5, overshoot and  
chattering becomes  
significant (see plot). This  
means the SGV gain is too  
low and/or the SGPis too  
high.  
Next, we should try raising  
the SGVgain to see if it will  
dampen out the overshoot  
and chattering.  
Step 5  
After the SGVgain is  
raised to 5, the overshoot  
was reduced but  
chattering is still quite  
pronounced. This means  
either one or both of the  
gains is too high.  
The next step should be to  
lower the SGVgain first.  
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Step 6  
Lowering the SGVgain to 3  
does not help reduce the  
chattering by much.  
Therefore, we should  
lower the SGPgain until  
chattering stops.  
Step 7  
Chattering stops after  
reducing the SGPgain to 4  
However, the overshoot is  
still a little too high.  
The next step should be to  
try raising the SGV to  
damp out the overshoot.  
Step 8  
After raising the SGVgain  
to 4, overshoot is reduced  
a little, but chattering  
reappears. This means the  
gains are still too high.  
Next, we should lower the  
SGVgain until chattering  
stops.  
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Step 9  
After lowering the SGV  
gain to 3 (even less than in  
Step 7—3.5), chattering  
stops.  
Next we should lower the  
SGPgain.  
Step 10  
Overshoot is reduced very  
little after lowering the SGP  
gain to 3.5. (The SGVgain  
might have been lowered  
too much in Step 9.)  
Next, we should try raising  
the SGVgain again until  
the overshoot is gone.  
Step 11  
When we raised the SGV  
gain to 3.5, the step  
response became fast and  
very stable.  
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Auto-Tuning  
The Aries drive can automatically determine the inertia of the load attached  
to the motor. This is performed by applying a specified torque to the motor  
and measuring the acceleration and deceleration of the motor. From this, the  
Aries drive can calculate the load inertia and store the value in the LJRAT  
command.  
Note: Excess friction can affect the measured inertia, thereby estimating the  
value higher than the actual inertia. While the drive can compensate for  
some friction, it may not compensate for all. If the estimated load inertia  
seems overly high, this may be the cause.  
Note: Use this method of auto-tuning only with the step and direction  
versions of the Aries drive.  
The Auto-Tune process should only last a few seconds, during which time  
the motor will rotate about one-quarter of a turn in each direction. Following  
are the two methods to start Auto-Tune mode.  
►
In the Aries Support Tool, select the Servo Tuner tab. Then click  
Auto-Tune.  
—or—  
►
Put the drive in position mode (DMODE6or 7). On the drive’s ±10V  
Analog Input, apply a command voltage greater than 3V, then reset the  
drive.  
To return to normal operation, remove the command voltage and reset  
the drive.  
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Chapter 6 Command Reference  
CHAPTER SIX  
Command  
Reference  
IN THIS CHAPTER  
Description of Format ................................................................................92  
Syntax – Letters and Symbols...................................................................92  
Syntax – General Guidelines.....................................................................94  
Command Descriptions .............................................................................95  
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Aries Communications Set-up  
Before you can communicate with the Aries drive, you must configure your  
terminal emulator. You can use HyperTerminal or an equivalent terminal  
emulator. For information about setting up communications, see “RS-232/485  
Communications” on page 71.  
Description of Format  
1.  
2.  
3.  
ERES  
Type  
Encoder Resolution  
Encoder Configuration  
<a_>ERES<i>  
4.  
5.  
6.  
Product Rev  
Aries 1.0  
Syntax  
Units  
Rotary motor: i = counts/revolution  
Linear motor: i = counts/electrical pitch  
2ØØ to 1Ø73741823  
4ØØØ  
7.  
8.  
9.  
Range  
Default  
ERES:  
<*>4ØØØ  
Response  
10. See Also  
DMEPIT, DMTR, TPE  
Number Description  
1.  
2.  
3.  
Mnemonic Code: This field contains the command's mnemonic code.  
Full Name: This field contains the command's full name.  
Valid Product & Revision: This field lists the Aries Series products and the revision of  
each product when this command was incorporated or modified per the description. If  
the command does not apply to that particular product, the Revision is specified as  
“N/A”. All commands applicable to the standard product versions are applicable to the  
OEM versions unless otherwise noted (e.g., 6250 commands are applicable to the  
OEM6250 controller).  
You can use the TREVcommand to determine which product revision you are using.  
For example, if the TREVresponse is Aries Revision 1.0, The product revision is 1.0  
4.  
5.  
Type: This field contains the command’s type.  
Syntax: The proper syntax for the command is shown here. The specific parameters  
associated with the command are also shown. Definitions of the parameters are  
described in the Syntax sections below.  
6.  
7.  
8.  
9.  
Units: This field describes what unit of measurement the parameter (b, d, i, r, or t) in  
the command syntax represents.  
Range: The range of valid values that you can specify for an argument (or any other  
parameter specified).  
Default: The default setting for the command is shown in this field. A command will  
perform its function with the default setting if you do not provide a value.  
Response: Some commands allow you to check the status of the command. In the  
example above, entering the EREScommand by itself, you will receive the response  
<*>4ØØØ. The <*> only appears for RS-485 communication, and does not appear for  
RS-232 communication.  
10.  
See Also: Commands related or similar to the command described are listed here.  
Table 39 Commands-Description of Format  
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Syntax – Letters and Symbols  
The command descriptions provided within this manual use alphabetic letters  
and ASCII symbols within the Syntax description (see example below) to  
represent different parameter requirements.  
ERES  
Type  
Encoder Resolution  
Encoder Configuration  
Product Rev  
Aries 1.0  
<a_>ERES<i>  
Syntax  
Units  
→
Rotary motor: i = counts/revolution  
Linear motor: i = counts/electrical pitch  
2ØØ to 1Ø73741823  
4ØØØ  
Range  
Default  
ERES:  
<*>4ØØØ  
Response  
Symbol Description  
a_  
Represents an address specifier, numeric value from Ø to 99. An address  
specifier is required if multiple Aries drives are connected in a daisy-chain or  
multi-drop configuration; in fact, leaving off the address specifier will cause  
parameter assignment commands to affect all units and response/transfer  
commands to request information from all units at the same time (multiple  
units transmitting characters at one time will garble the communication). To  
assign unique unit addresses to multiple drives, refer to the ADDRcommand.  
b
Represents the values 1or Ø; does not require field separator between  
values. *  
c
d
Represents a character (Ato Z, or ato z)  
Represents the values 1or Ø, Eor e; does not require field separator between  
values. Eor eenables a specific command field.  
i
r
Represents a numeric value that cannot contain a decimal point (integer  
values only). The numeric range varies by command. Field separator  
required.  
Represents a numeric value that may contain a decimal point, but is not  
required to have a decimal point. The numeric range varies by command.  
Field separator required.  
t
,
Represents a string of alphanumeric characters from 1 to 16 characters in  
length. The string must start with an alpha character.  
(Comma) Represents a field separator. Commands with the symbol ror iin  
their Syntax description require field separators.  
Commands with the symbol b or d in their Syntax description do not require  
field separators (but they may be included). See Table 41.  
< >  
Indicates that the item contained within the < >is optional, and not required  
by that command.  
Note: Do not confuse with <cr>, <sp>, and <lf>, which refer to the ASCII  
characters corresponding to a carriage return, space, and line feed,  
respectively.  
*
The ASCII character bcan also be used within a command to precede a binary number.  
When the bis used in this context, it is not to be replaced with a Øor 1. For example,  
comparisons such as ERROR= b1x1.  
Table 40 Commands-Syntax  
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Syntax – General Guidelines  
Guideline Topic Guideline  
Examples  
Command Delimiters All commands must be separated  
by a delimiter. A carriage return is  
the most commonly used.  
(<cr>and <lf>)  
Neutral Characters  
Using neutral characters  
Set velocity limit to 100 rps:  
anywhere within a command will  
not affect the command.  
(<sp>)  
DMVLIM<sp>1ØØ<cr>  
Case Sensitivity  
There is no case sensitivity. Use Initiate motion:  
upper or lower case letters within  
commands.  
GO1  
go1  
Comment Delimiter  
[semi-colon ( ; ) or  
apostrophe ( ‘ )]  
All text between a comment  
delimiter and a command delimiter  
is considered program comments.  
Add a comment to the command:  
DMVLIM<sp>  
velocity  
; set  
; limit  
Binary and  
When making assignments with or Binary:  
Hexadecimal Values comparisons against binary or  
hexadecimal values, you must  
ERRORL = bØ1111x11111111111  
precede the binary value with the  
letter “b” or “B”, and the hex value  
with “h” or “H”. In the binary  
Hexadecimal:  
ERRORL = h7FxF  
syntax, an “x” simply means the  
status of that bit is ignored.  
Note: The command line is limited to 32 characters (including spaces).  
Table 41 Syntax Guidelines  
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Command Descriptions  
You can use the ASCII commands, provided in this chapter, to configure,  
check errors, and reset the Aries drive through a terminal emulator. A  
terminal emulator, however, is not required, Instead, you can use the Aries  
Supp0ort Tool software to perform the same operations.  
Note: The Aries Support Tool does not support the CMDDIRand ADDR  
commands. You must use a terminal emulator to set the commanded  
direction and address of each drive.  
Before you can communicate with the Aries Drive, you must configure your  
terminal emulator. You can use HyperTerminal or an equivalent terminal  
emulator, For more information about setting up communications, see “RS-  
232/485 Communications” on page 74  
ADDR  
Type  
Multiple Unit Address  
Drive Configuration  
<a_>ADDR<i>  
i = unit number  
Ø to 255  
Product  
Aries  
Rev  
1.0  
Syntax  
Units  
Range  
Ø
Default  
Response  
See Also  
ADDR:  
none  
<*>Ø  
The ADDRcommand configures the unit address for an RS-485 multi-drop  
network. The factory default address for an Aries drive is zero (0). The ADDR  
command allows you to uniquely address up to 255 units (99 unit maximum  
on a single network).  
After establishing a unique address for each Aries drive, you can address  
commands to specific units. To do this, prefix the command with the unit’s  
address followed by an underscore ( _ ). For example, 2_ERES reports the  
resolution on unit 2.  
RS-485 Multi-Drop  
You must address each unit before adding it to the multi-drop network.  
For example, you want to set up a 4-unit multi-drop network, where the  
drives are addressed as units 1 through 4. After addressing a drive, you  
can install it in the multi-drop network.  
1. Connect the drive to become unit 1. Through a terminal emulator,  
send the following command: Ø_ADDR1  
2. Connect the drive to become unit 2. Through a terminal emulator,  
send the following command: Ø_ADDR2  
3. Connect the drive to become unit 3. Through a terminal emulator,  
send the following command: Ø_ADDR3  
4. Connect the drive to become unit 4. Through a terminal emulator,  
send the following command: Ø_ADDR4  
If you need to replace a unit in the multi-drop network, connect to the  
individual device and send the Ø_ADDRicommand, where “i”  
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represents the address of the new unit. Then connect the drive to the  
network.  
Note: All command responses on an RS-485 network are preceded by <*>.  
ALIGN  
Type  
Align encoder  
Drive configuration  
Product  
Rev  
<a_>ALIGN  
Syntax  
Units  
Aries  
1.0  
N/A  
N/A  
0
Range  
Default  
Response  
See Also  
none  
DMODE, DRIVE, ENCOFF, ENCPOL, P163, SHALL  
The ALIGNcommand aligns the encoder on the motor so that the drive can  
commutate the motor correctly. This command is especially useful for  
configuring a custom motor. To align the motor, use the following procedure:  
1. Remove any load from the shaft. The procedure works best with an  
unloaded motor.  
2. Disable the drive by means of the hardware enable or by typing DRIVE0  
into the terminal and pressing Enter.  
3. Type DMODE3in the terminal and press Enter to enter alignment mode.  
4. Enable the drive by means of either the hardware enable or by typing  
DRIVE1into the terminal and press Enter.  
5. Type ALIGNinto the terminal and press Enter to begin the alignment  
process.  
6. The drive then begins the alignment procedure. This could take up to 20  
seconds.  
Note: The motor turns up to 90 degrees during this procedure.  
7. The alignment process may modify the following parameters:  
ENCOFF, ENCPOL, SHALL, CMDDIR, P163  
These parameters are stored in the drive. If you want to store them in a  
smart encoder, type the ESTOREcommand into the terminal and press  
Enter. It takes a couple of seconds to store the motor data in the motor.  
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ANICDB  
Type  
Analog Input Center Deadband  
Drive Configuration  
<a_>ANICDB<r>  
r = volts  
Product  
Rev  
Syntax  
Aries  
2.0  
Units  
Ø.ØØ to 1Ø.ØØ  
Ø.Ø4  
Range  
Default  
Response  
See Also  
ANICDB: *ANICDBØ.Ø4  
DCMDZ, DMTSCL, TANI  
The ANICDBallows the user to specify the voltage deadband for the  
command input. ANICDBis used with DCMDZto configure the command input  
for DMODE2 and DMODE4. The commanded torque, Trqcommand, is calculated  
from the input voltage, Vin, using DMTSCLas follows:  
DMTSCL  
DCMDZ ANICDB  
−
−
V
= (  
)
Trqcommand  
in  
10  
Vin >  
(
DCMDZ+ ANICDB  
)
when  
Trqcommand = 0  
DCMDZ-ANICDB  
(
)
≤ Vin ≤  
(
DCMDZ+ ANICDB  
)
when  
DMTSCL  
DCMDZ ANICDB  
−
+
V
= (  
)
Trqcommand  
in  
10  
Vin <  
(
DCMDZ-ANICDB  
)
when  
The commanded velocity, Velcommand, is calculated from the input voltage, Vin,  
using DMVSCLas follows:  
DMVSCL  
DCMDZ ANICDB  
−
−
V
= (  
)
Velcommand  
in  
10  
when Vin >  
(
DCMDZ+ ANICDB  
)
Velcommand = 0  
when  
(
DCMDZ-ANICDB  
)
≤ Vin ≤  
(
DCMDZ+ ANICDB  
)
DMVSCL  
DCMDZ ANICDB  
−
+
V
= (  
)
Velcommand  
in  
10  
when Vin <  
(
DCMDZ-ANICDB  
)
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CERRLG  
Type  
Clear the Error Log  
Error Handling  
Product  
Rev  
<a_>CERRLG  
N/A  
Syntax  
Aries  
1.0  
Units  
N/A  
Range  
N/A  
Default  
N/A  
Response  
See Also  
CONFIG, ERRORL, ERROR, TANI, TDHRS, TDMIN,  
TDSEC, TDTEMP, TERRLG, TMTEMP, TVBUS  
The CERRLGcommand erases the stored contents of the error log. Clearing  
the error log is a helpful diagnostic tool; it allows you to start the diagnostic  
process when the error log is in a known state so that you can check the  
error log in response to subsequent events.  
The error log is updated every time an error occurs. The TERRLGcommand  
displays the last ten error conditions that the drive has experienced, as  
recorded in these status registers:  
• TANI (current command input voltage)  
• CONFIG(text-based status report of configuration errors)  
• ERROR(list of error messages)  
• TDHRS(number of hours since the drive was powered up or RESET)  
• TDTEMP(measured temperature of the drive in centigrade)  
• TMTEMP(estimated temperature of the motor in centigrade)  
• TVBUS(measured bus voltage in volts)  
CMDDIR  
Type  
Direction of Rotation  
Drive Configuration  
Product  
Rev  
<a_>CMDDIR<b>  
Syntax  
Units  
Aries  
1.0  
b = enable bit  
Ø (CW rotation for positive analog input) or  
1 (CCW rotation for positive analog input)  
Range  
Ø
Default  
CMDDIR  
<*>Ø  
Response  
See Also  
ANICDB, DCMDZ, DMTSCL, DRES, ENCPOL, IANI,  
TANI  
The CMDDIRcommand determines the direction of shaft rotation (or direction  
of travel for linear motors) for positive analog input. The default is clockwise  
shaft rotation for a positive command.  
Sending a CMDDIR1 command changes the direction to counter clockwise.  
In addition, the encoder counts positive for counter clockwise rotation with  
CMDDIR1.  
Note: This command does not take effect until you cycle power to the drive,  
or send the RESET command.  
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Rotary Motors—Positive values represent  
clockwise motion and negative values represent  
counter-clockwise motion (assuming CMDDIR = Ø,  
and that you connected the feedback device  
according to instructions provided in “Chapter 2  
Mechanical Installation” and “Chapter 3 Electrical  
Installation”).  
Figure 41 Clockwise/  
Counter-clockwise rotation  
CONFIG  
Type  
Configuration Errors and Warnings  
Error Handling  
Product  
Rev  
<a_>CONFIG  
N/A  
Syntax  
Aries  
1.0  
Units  
N/A  
Range  
N/A  
Default  
Response  
See Also  
CONFIG  
<*>No Errors  
DMTIC, DMTIND, DMTIP, DMTW, ERROR  
The CONFIG command gives a text-based status report of current  
configuration errors and warnings (EØthrough E24).  
Error  
Resolution  
EØ—Motor Configuration  
Warning  
The motor rating is too high for the drive, and the  
drive is using its own limits for safety reasons.  
E1—Motor Configuration Error  
One of the motor parameters is set to zero (0).  
Look at the additional errors to find which  
parameters are set at zero (0). Refer to your  
motor specifications for the correct value.  
E3—Max Inductance = Ø  
E4—Rated Speed = Ø  
E5—DPOLE = Ø  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero (0) value. Refer to  
your motor specifications for the correct value.  
(DMTIND)  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTW)  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DPOLE)  
E6—Resistance = Ø  
E7—Ke = Ø  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTRES)  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMKE)  
E8—Continuous Current = Ø  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTIC)  
Chapter 6 Command Reference 99  
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Error  
Resolution  
E9—Peak Current = Ø  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTIP)  
E1Ø—Use Drive Continuous  
Current Warning  
The continuous current of the motor is higher than  
the continuous current rating of the drive. Use the  
continuous current rating for the drive.  
E11—Torque Rating > Peak  
Power Rating Warning  
The motor’s torque rating is too high for the power  
level of the drive. Use the drive’s torque rating.  
E12— Use Drive Peak Current  
Warning  
The peak current of the motor is higher than the  
peak current rating of the drive. Use the drive’s  
value for peak current.  
E13 - Inertia = Ø  
E14 – Damping = Ø  
This parameter is set to zero (0). The drive will not  
enable Velocity or Position Modes. To correct the  
error, you must set to a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTJ)  
This parameter is set to zero (0). The drive will not  
enable Velocity or Position Modes. To correct the  
error, you must set to a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTD)  
E15 – Notch filter Calc  
Error.  
The notch filter settings caused an internal  
calculation error. The last valid value was used.  
Try different values for the notch filter parameters.  
(DNOTAF, DNOTAQ, DNOTBF, DNOTBQ)  
E16 – Lead < Lag Freq  
E17 – Lead ≥ 4* Lag Freq  
E18 – Lag Freq < 2Ø Hz  
The lead filter setting (DNOTLD) must be greater  
than or equal to the lag filter setting. (DNOTLG)  
The lead filter setting (DNOTLD) must be less than  
or equal to 4 times the lag filter setting. (DNOTLG)  
The lag filter setting (DNOTLG) must be greater  
than or equal to 20 Hz.  
E19–E24  
RESERVED  
Table 42 Configuration Errors and Warnings  
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DCMDZ  
Type  
Zero the Drive Command Offset  
Drive Configuration  
<a_>DCMDZ=<r>  
r = volts  
Product  
Rev  
Syntax  
Aries  
1.0  
Units  
-1Ø.ØØ to 1Ø.ØØ  
Ø.ØØ  
Range  
Default  
Response  
See Also  
N/A  
ANICDB, DMODE, TANI  
The DCMDZcommand sets the zero point for the command input. When in  
torque/force mode (DMODE2), this will minimize motor drift.  
Executing the DCMDZcommand without an argument sets the zero reference  
point to the last voltage read at the command input. To execute this  
command correctly, short the AIN + and AIN – pins together on the DRIVE I/O  
connector, or command zero volts from the servo controller.  
You can also use DCMDZto set the zero point to an arbitrary voltage by  
entering that value. For example, DCMDZ = Ø.5makes 0.5 volts equal to a  
commanded velocity of zero (0) rps. Note that this value is the internal level  
and does not take into account any offsets in the incoming command signal.  
DIBW  
Type  
Current Loop Bandwidth  
Tuning  
<a_>DIBW<i>  
Hz  
Product  
Rev  
Syntax  
Units  
Aries  
3.0  
250-3000  
1200  
Range  
Default  
Response  
See Also  
DIBW:  
<*>1200  
PGAIN, IGAIN, IAUTO  
When used in conjunction with IAUTO1, this command sets the current loop  
bandwidth. Higher values of DIBWwill give a faster response to changes in  
commanded current, at the expense of some overshoot. Lower values of  
DIBW, will give a slower response, with much less overshoot.  
Chapter 6 Command Reference 101  
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DIFOLD  
Type  
Current Foldback Enable  
Drive Configuration  
<a_>DIFOLD<b>  
b = enable bit  
Ø (disable) or 1 (enable)  
1
Product  
Rev  
Syntax  
Aries  
1.0  
Units  
Range  
Default  
Response  
See Also  
DIFOLD: <*>Ø  
none  
The DIFOLDcommand enables (1) or disables (Ø) the drive’s current  
foldback protection feature. The current foldback feature reduces the drive’s  
continuous current output by 20% when sustained current has the potential  
to overheat the drive. For the AR-20xE and AR-30xE drives, this feature is  
always enabled.  
Each drive has the specifications shown in Table 43. Note that current  
ratings are for the drive, not for the motor.  
AR-01xx  
AR-02xx  
AR-04xx  
AR-08xx  
AR-13xx  
AR-20xE  
AR-30xE  
1.0  
Arms  
1.75  
Arms  
3.0  
Arms  
4.5  
Arms  
6.3  
Arms  
10  
Arms  
16  
Arms  
Drive Continuous Current  
Rating (100%)  
3.0  
Arms  
5.25  
Arms  
9.0  
Arms  
13.5  
Arms  
14.07  
Arms  
30  
Arms  
48  
Arms  
Max Current Rating  
3.375  
sec  
3.375  
sec  
3.375  
sec  
3.375  
sec  
8.64  
sec  
3.375  
sec  
3.375  
sec  
Max Time at Peak Current  
Rating  
Table 43 Current Foldback Ratings  
If your drive is operating above its continuous rating, see Figure 42 to predict  
the number of seconds until foldback occurs. For example, the graph shows  
that at the drive’s peak current rating (300% of continuous), foldback occurs  
after 3.375 seconds.  
Note: For model AR-13xx, foldback occurs after 8.64 seconds at its peak  
rating (225% of continuous).  
Figure 42 Time until current foldback occurs  
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DMEPIT  
Type  
Motor Electrical Pitch  
Motor (Linear only)  
<a_>DMEPIT<r>  
Product  
Rev  
Syntax  
Aries  
1.0  
r = millimeters  
Ø to 3ØØ.ØØ : ±Ø.Ø1  
Ø
Units  
Range  
Default  
Response  
See Also  
DMEPIT: <*>4Ø.ØØ  
ERES  
Note: This command does not take effect until you cycle power to the drive,  
or send the RESETcommand.  
The DMEPITcommand sets the electrical pitch of the magnets for use with  
permanent magnet brushless linear motors. The DMEPITvalue is required to  
convert between linear units and rotary units. The electrical pitch can be  
equated to one revolution in a rotary motor. Mechanically, the definition of the  
electrical pitch is the linear distance between two magnets comprising a full  
magnetic cycle. For example, the illustration below shows an electrical pitch  
of 42 mm (DMEPIT42).  
Figure 43 Linear motor track  
Important! For rotary motors, set the DMEPITto zero (0). The Aries drive  
uses the DMEPITparameter as the determinant for which type of motor,  
linear or rotary, is connected.  
DMODE  
Type  
Drive Control Mode  
Drive Configuration  
Product  
Rev  
<a_>DMODE<i>  
Syntax  
Aries  
1.0  
i = control mode setting  
1 to 17 (see Table 44)  
2
Units  
Range  
Default  
Response  
See Also  
DMODE: <*>2  
none  
Use the DMODEcommand to select the drive control mode for your Aries  
drive. For drive mode descriptions and drive compatibility, see Table 44.  
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DMODE  
Mode  
Description  
1
Autorun  
Rotates the motor at 1 rps/mps. Current is  
reduced by 10%.  
2
Torque/Force  
Control  
Allows direct control of rotary motor  
torque, or linear motor force.  
3
4
Feedback Alignment Auto-configure for feedback setup.  
Velocity Control  
Allows direct control of rotary or linear  
motor velocity.  
6
7
Position Control  
Uses 5V Differential compatible (RS-422  
logic level compatible) step and direction  
control.  
Reversed Position Reverses the polarity of the step and  
Control direction signal.  
Table 44 Drive Control Mode  
Note: dmodes 6 and 7 are available only on the step and direction versions  
of the Aries drive.  
DMPSCL  
Type  
Incoming Pulse Scaling  
Drive Configuration  
<a_>DMPSCL<i>  
i = multiplier setting  
0 to 127  
Product  
Rev  
Syntax  
Aries  
2.0  
Units  
Range  
1
Default  
DMPSCL: <*>1  
Response  
See Also  
DMODE, DMTR, DRES  
Use the DMPSCL command to scale the incoming pulses for the step and  
direction input. A setting of 10 would move the motor 10 encoder pulses for  
each input pulse. This command is only valid in DMODE6(Position Mode).  
DREScommand: Added DREScommand for step and direction inputs. Input  
steps will be scaled to DRESvalue so DRESsteps on the input would  
translate to 1 revolution of the motor.  
DRESis set to ERESinternally if DMPSCLis non-zero for backward  
compatibility. DMPSCL should be set to 0 to enable DRESsupport.  
NB: DRESchange requires a reset to take effect. DMPSCLworks immediately  
so the user could use DMPSCL0to enable DRESsupport then enable DMPSCL  
and have both features working at once.  
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DMTAMB  
Type  
Motor Ambient Temperature  
Motor  
Product  
Rev  
<a_>DMTAMB<r>  
Syntax  
Aries  
1.0  
r = Degrees Celsius  
-5Ø.ØØ to 25Ø.ØØ : ±Ø.Ø1  
4Ø.Ø  
Units  
Range  
Default  
DMTAMB: <*>4Ø.Ø  
Response  
See Also  
DMTMAX, DMTRWC, DMTTCM, DMTTCW  
The DMTAMBcommand sets the motor ambient temperature used by the  
software motor thermal model. The DMTAMBvalue, in conjunction with the  
motor thermal time constant (DMTTCM), the motor winding time constant  
(DMTTCW), the motor thermal resistance (DMTRWC) and the continuous motor  
current (DMTIC), is used in a real-time estimation of the motor winding  
temperature. When the winding temperature exceeds DMTMAX, the drive  
faults and reports E35–Motor Thermal Fault.  
DMTD  
Type  
Motor Damping  
Motor  
Product  
Rev  
<a_><!>DMTD<r> (does not take effect until RESET or  
cycle power)  
Syntax  
Aries  
2.0  
Rotary motor: r = uNm/rad/sec  
Linear motor: r = N/meter/sec  
Units  
Rotary motor: Ø.ØØØØØØ to 1ØØØØ : ±1  
Range  
Linear motor: DMEPIT (electrical pitch) dependent  
Ø.ØØØØØØ  
Default  
DMTD:  
*DMTD2ØØ  
Response  
See Also  
DMTR  
Note: This command does not take effect until you cycle power to the drive,  
or send the RESETcommand.  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
The DMTDcommand specifies the damping of the motor itself. This includes  
both magnetic losses and bearing losses.  
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DMTIC  
Type  
Continuous Current  
Motor  
Product  
Rev  
<a_>DMTIC<r>  
Syntax  
Units  
Aries  
1.0  
r = Amps-RMS  
Ø.ØØ to 2ØØ.ØØ : ±Ø.Ø1  
Range  
Default  
Ø.ØØ (DMTIC of Ø results in motor configuration  
warning)  
DMTIC: <*>6.5Ø  
Response  
See Also  
DMTICD, DMTIP, DMTR, TCI, TDICNT, TDIMAX  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number. Otherwise, the drive  
reports the configuration errors EØ–Motor Configuration Error and  
E8–Continuous Current = Ø.  
For a list of automatically configured commands, see DMTR.  
The DMTICcommand sets the continuous operating current for a motor.  
Rotary motors: The internal winding temperature will reach 125°C with a  
specified heatsink in a 40°C ambient—for Parker motors only.  
Linear motors: The winding will reach 90°C in a 25°C ambient—for Parker  
motors only.  
For heatsink dimensions, see pages 28, 29 and 30.  
Example  
DMTIC5  
; Set the motor current to 5 amps rms (equates to  
; 7.Ø7 amps peak)  
DMTICD  
Type  
Continuous Current Derating  
Motor  
Product  
Rev  
<a_>DMTICD<i>  
Syntax  
Aries  
1.0  
I = Percent derating at rated speed  
Ø.ØØ to 1ØØ.ØØ : ±Ø.Ø1  
Ø.ØØ (DMTICD of Ø results in no current derating)  
DMTICD: <*>5  
Units  
Range  
Default  
Response  
See Also  
DMTIC, DMTIP, DMTIP, DMTR, DMTW, TCI, TDICNT,  
TDIMAX  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
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The DMTICDcommand sets the current derating percentage at rated speed  
(DMTW). This value sets the extent to which continuous current must be  
reduced at speed to compensate for velocity-related losses in the motor.  
For example, DMTICD3sets the motor’s continuous current derating to 3%  
(or 97% of continuous value DMTIC) at the motor’s rated speed (DMTW). At  
half this speed, it will be reduced 1.5%.  
DMTIND  
Type  
Motor Inductance  
Motor  
Product  
Rev  
<a_>DMTIND<r>  
r = mH  
Syntax  
Units  
Aries  
1.0  
Ø.Ø to 2ØØ.Ø : ±Ø.1  
Range  
Ø.Ø (DMTIND of Ø results in motor configuration  
error)  
Default  
DMTIND  
<*>1Ø  
Response  
See Also  
DMTINF, DMTR  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number. Otherwise, the drive  
reports the configuration errors E1–Motor Configuration Error and  
E3–Maximum Inductance = Ø, and shuts down the drive.  
For a list of automatically configured commands, see DMTR.  
The DMTINDcommand specifies the maximum value of motor inductance.  
This usually differs from the nominal nameplate value because actual  
inductance is usually position dependent. If the maximum value of motor  
inductance is not known, specify the nominal inductance as listed on the  
motor’s nameplate.  
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DMTINF  
Type  
Motor Inductance Factor  
Motor  
Product  
Rev  
<a_>DMTINF<r>  
r = units  
Ø.ØØ to 1.ØØ  
1
Syntax  
Aries  
1.0  
Units  
Range  
Default  
Response  
See Also  
DMTINF  
<*>1.ØØ  
CONFIG, DMTIND, DMTR  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number. Otherwise, the drive  
reports the configuration errors E1–Motor Configuration Errorand  
E3–Maximum Inductance = Ø, and shuts down the drive.  
For a list of automatically configured commands, see DMTR.  
The DMTINF command specifies the minimum motor inductance divided by  
the maximum motor inductance. Setting DMTINFto 1.ØØdoes not derate the  
motor.  
If the minimum value of the motor inductance is not known, use the nominal  
inductance as listed on the motor’s nameplate (or set DMTINF1.ØØ)  
DMTIP  
Type  
Peak Current  
Motor  
Product  
Rev  
<a_>DMTIP<r>  
r = Amps-RMS  
Ø.ØØ to 4ØØ.ØØ : ±Ø.Ø1  
Syntax  
Units  
Aries  
1.0  
Range  
Default  
Ø.ØØ (DMTIP of Ø results in motor configuration  
warning)  
DMTIP: <*>7.5Ø  
Response  
See Also  
DMTIC, DMTICD, DMTLIM, DMTR, TDIMAX  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number. Otherwise, the drive  
reports the configuration errors E1–Motor Configuration Error and  
E9–Peak Current = Ø.  
For a list of automatically configured commands, see DMTR.  
The DMTIPcommand sets a limit that the commanded current cannot  
exceed. This is typically set to three times the motor’s continuous current  
rating (DMTIC) or less.  
If DMTIPis set higher than the full-scale value calculated by DMTLIM  
(torque/force limit) the new DMTIPvalue will be ignored.  
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If the DMTIPvalue exceeds the drive’s maximum output current (TDIMAX),  
the DMTIPvalue will be ignored and the maximum allowable value will be  
used (see Table 45). The drive reports EØ–Motor Configuration  
Warning and E12–Peak Current Too High.  
Maximum Current Rating (RMS)  
AR-01xx  
AR-02xx  
AR-04xx  
AR-08xx  
AR-13xx  
AR-20xE  
AR-30xE  
3A  
5.25A  
9A  
13.5A  
14.1  
30  
48  
Table 45 Peak Current Rating for Aries Drives  
DMTJ  
Type  
Motor Rotor Inertia / Forcer Mass  
Motor  
Product  
Rev  
<a_><!>DMTJ<r> (does not take effect until RESET or  
cycle power)  
Syntax  
Aries  
2.0  
Rotary motor: r = kgm2 * 1Ø-6  
Linear motor: r = kg  
Units  
Range  
Rotary motor: Ø.ØØØ to 1ØØØØØØ.ØØØ : ±Ø.ØØ1  
Linear motor: DMEPIT (electrical pitch) dependent  
Ø.ØØØ (DMTJ of Ø results in motor config. error)  
Default  
DMTJ:  
*DMTJ2ØØ.6ØØ  
Response  
See Also  
DMTR, CONFIG  
Note: This command does not take effect until you cycle power to the drive,  
or send the RESETcommand.  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
If the drive is powered up when this command is set to zero (for instance, if  
RFSis executed), the drive reports a motor configuration error with E13, and  
shuts down the drive (DRIVEØ).  
For a list of auto-configured commands, see DMTR.  
The DMTJcommand sets the motor rotor inertia for rotary motors, or the  
forcer mass for linear motors.  
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DMTKE  
Type  
Motor Ke  
Motor  
Product  
Rev  
<a_>DMTKE<r>  
Rotary motor: r = volts  
Syntax  
Units  
Aries  
1.0  
(Ø-peak)/krpm (measured line-to-line)  
Linear motor: r = volts  
(Ø-peak)/meter/second (measured line-to-line)  
Rotary motor: Ø.Ø to 8ØØ.Ø : ±Ø.1  
Range  
Linear motor: DMEPIT (electrical pitch) dependent  
Ø.Ø (DMTKE of Ø results in motor configuration error)  
DMTKE: <*>15.Ø  
Default  
Response  
See Also  
DMEPIT, DMTLIM, DMTR, DMTSCL  
Note: This command does not take effect until you cycle power to the drive,  
or send the RESET command.  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number. Otherwise, the drive  
reports the configuration errors E1–Motor Configuration Errorand  
E7–Bad Hall State, and shuts down the drive.  
For a list of automatically configured commands, see DMTR.  
The DMTKEcommand specifies the motor voltage constant (Ke). This  
defaults to the nominal Ke of the motor selected with the DMTRcommand.  
The motor’s torque/force constant (Kt) is derived from the motor’s voltage  
constant (Ke) by the following relationship:  
3 3  
Kt(Nm / A† ) =  
Ke(Volts‡ / krpm)  
200π  
† RMS, 0 - peak value  
‡
Rotary motors:  
Linear motors:  
3 3  
Kt(N / A† ) =  
Ke(Volts‡ /(meter /sec))  
200π  
† RMS, 0 - peak value  
‡
Note: The Aries requires values in rotary units. The Aries Support Tool  
automatically performs these conversions when you use the Configuration  
Wizard. If you do not use the Configuration Wizard, you must convert your  
linear units to rotary units. For more information about conversion, see the  
DMEPITcommand.  
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DMTLIM  
Type  
Torque/Force Limit  
System  
Product  
Rev  
<a_>DMTLIM<r>  
Syntax  
Units  
Aries  
1.0  
Rotary motor: r = Nm  
Linear motor: r = N  
Rotary motor: Ø.Ø to 5ØØ.Ø (motor/drive dependent):  
±Ø.1  
Range  
Linear motor: DMEPIT (electrical pitch) dependent  
4ØØ.Ø  
Default  
DMTLIM: <*>1Ø.5  
Response  
See Also  
DMODE, DMTIP, DMTKE, DMTR, DMTSCL, TTRQ,  
TTRQA  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
The DMTLIMcommand sets a maximum torque/force limit for the system.  
Requests for higher torque/force will be clamped to this value. This command  
will default automatically to a value appropriate to the motor selection (DMTR)  
and the Aries drive you are using, and no changes are required in many  
cases.  
If your mechanical system has torque/force limitations (due, for example, to  
the limitations of a coupler or belt), you can use this command to limit system  
torque/force without affecting system scaling or gains.  
During initial tuning, this command can be used to limit the torque/force  
produced if the system becomes unstable, reducing the rate of motor heating  
and allowing more reaction time for the person tuning the system, and  
reducing the chances of damage to the mechanical system.  
If DMTLIMis set higher than the value allowed by the motor’s peak current  
times the motor’s Kt, or the drive’s peak current times the motor’s Kt  
(whichever is lower), the new DMTLIMvalue will be ignored (but not  
overwritten). In addition, the drive reports EO –Motor configuration  
Warningand E11–Torque Rating Too High for Drive, and the  
maximum internal value is used. You can clear the warning by sending the  
RESETcommand or cycling power to the drive.  
The motor’s torque/force constant (Kt) is derived from the motor’s voltage  
constant (Ke, which is set by the DMTKEcommand) by the following  
relationship (Note: Ke is set with the DMTKEcommand):  
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3 3  
Kt(Nm / A† ) =  
Ke(Volts‡ / krpm)  
Rotary motors:  
Linear motors:  
200π  
† RMS, 0 - peak value  
‡
3 3  
Kt(N / A† ) =  
Ke(Volts‡ /(meter /sec))  
200π  
† RMS, 0 - peak value  
‡
DMTMAX  
Type  
Maximum Motor Winding Temperature  
Motor  
Product  
Rev  
<a_>DMTMAX<r>  
Syntax  
Aries  
1.0  
r = Degrees Celsius  
Ø.Ø to 2ØØ.Ø : ±Ø.1  
125.Ø  
Units  
Range  
Default  
DMTMAX: <*>125.Ø  
Response  
See Also  
DMTAMB, DMTIC, DMTR, DMTRWC, DMTTCM, DMTTCW  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
The DMTMAXcommand sets the maximum motor winding temperature  
allowed. The DMTMAXvalue, in conjunction with the motor thermal time  
constant (DMTTCM), the motor winding time constant (DMTTCW), the motor  
thermal resistance (DMTRWC) and the continuous motor current (DMTIC), is  
used in a real-time estimation of the motor winding temperature. When the  
winding temperature exceeds DMTMAX, a drive fault occurs and the drive  
reports E35–Motor Thermal Model Fault.  
DMTR  
Type  
Identify Motor  
Drive Configuration  
Product  
Rev  
<a_>DMTR<t> this command is only a report back  
Syntax  
Units  
Aries  
1.0  
t = Parker motor identification number  
N/A  
Range  
“Blank”  
Default  
Response  
See Also  
DMTR:  
<*>SM232AE  
(Servo Motor Data Parameters below), RESET, RFS,  
STATUS  
The purpose of the DMTRcommand is to record and report the identification  
number of the Parker motor you selected in the Aries Support Tool.  
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When you select a specific Parker motor using the Aries Support Tool, the  
DMTRsetting and various motor parameters (see Servo Motor Data  
Parameters below) are automatically configured for the associated motor.  
Using the Aries Support Tool, you can save the parameters in a configuration  
file.  
For the DMTRand all the motor parameter commands to take effect after  
downloading the configuration file to the Aries drive, you must cycle drive  
power or send the RESETcommand.  
Note: For a non-Parker motor, the default setting is blank (empty). You must  
set all relevant motor parameters manually.  
Avoid using the DMTRcommand to change the motor name, because the  
new DMTRvalue may not represent the actual motor parameters that are  
currently loaded in the drive.  
Servo Motor Data Parameters  
MEPIT  
DMTMAX  
Motor Electrical Pitch  
Maximum Motor Winding  
Temperature  
DMTD  
DMTRES  
DMTRWC  
Motor Damping  
Motor Winding Resistance  
DMTIC  
Continuous Current  
Motor Winding Thermal  
Resistance  
DMTICD  
DMTIND  
DMTTCM  
DMTTCW  
Continuous Current  
Derating  
Motor Thermal Time  
Constant  
Motor Inductance (max)  
Motor Winding Time  
Constant  
DMTINF  
DMTIP  
DMTJ  
DMTW  
Motor Inductance (min)  
Peak Current  
Motor Rated Speed  
Velocity Limit  
DMVLIM  
DMVSCL  
Motor rotor Inertia/Forcer  
Mass  
Velocity Scaling  
DMTKE  
DPOLE  
ERES  
Motor Ke  
Number of Motor Pole  
Pairs  
DMTLIM  
Torque/Force Limit  
Encoder Resolution  
Although these command values are auto-configured when you select a  
Parker motor (using the Aries Support Tool), you may individually set the  
command values with the respective configuration command.  
Motor Configuration Error  
Many of the above motor parameters, if not configured (i.e. a command  
remains at its factory default value, or an RFScommand is executed) will  
report a motor configuration warning or error when powering up the Aries  
drive—EØ–Motor Configuration Warningor E1–Motor  
Configuration Error(an error also disables the drive—DRIVEØ). To  
resolve the error or warning condition, you must select a Parker motor using  
the Aries Support Tool (or configure each motor parameter command with a  
value other than zero using a terminal emulator), download the resulting  
configuration information, and then send the RESETcommand or cycle  
power.  
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DMTRES  
Type  
Motor Winding Resistance  
Motor  
Product  
Rev  
<a_>DMTRES<r>  
Syntax  
Units  
Aries  
1.0  
r = Ohm (measured line-to-line)  
Ø.ØØ to 10Ø.ØØ : ±Ø.Ø1  
Range  
Ø.ØØ (DMTRES of Ø results in motor configuration  
error)  
Default  
DMTRES:  
<*>7.5Ø  
Response  
See Also  
DMTR  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number. Otherwise, the drive  
reports the configuration errors E1–Motor Configuration Error and  
E6–Resistance = Ø, and shuts down the drive.  
For a list of automatically configured commands, see DMTR.  
The DMTREScommand sets the motor winding resistance. This resistance  
value is measured at 25°C at the drive end of the motor cable (motor cable  
included). This resistance is the phase-to-phase resistance measured at  
terminals U to V, V to W, or W to U.  
Warning — Disconnect the motor cable from the drive before attempting to  
make this measurement. For best accuracy, and to avoid injury, this  
measurement must be made with the motor cable disconnected from the  
drive.  
DMTRWC  
Type  
Motor Winding Thermal Resistance  
Motor  
Product  
Rev  
<a_>DMTRWC<r>  
Syntax  
Aries  
1.0  
Units  
r = Degrees Celsius/Watt (°C/W)  
Ø.ØØ to 16.ØØ : ±Ø.Ø1  
Ø.5Ø  
Range  
Default  
DMTRWC: <*>23.6Ø  
Response  
See Also  
DMTR, DMTTCM, DMTTCW  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
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DMTRWCspecifies the temperature rise of the motor winding above motor  
case temperature per watt of winding power dissipation between the winding  
and case. Motor heatsinking does not affect this value.  
DMTSCL  
Type  
Torque/Force Scaling  
Drive Configuration  
Product  
Rev  
<a_>DMTSCL<r>  
Syntax  
Units  
Aries  
1.0  
Rotary motor: r = Nm  
Linear motor: r = N  
Ø.Ø to 5ØØ.Ø (motor/drive dependent): ±Ø.1  
Range  
Ø
Default  
DMTSCL: <*>2Ø.Ø  
Response  
See Also  
DMEPIT, DMODE, DMTKE, DMTLIM, DMTR, TDIMAX,  
TTRQ, TTRQA  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
The DMTSCLcommand scales the torque/force command input. It sets the  
full-scale torque/force that will be produced from a 10-volt input command. It  
controls the gain applied to the input. This can be used to scale the input to  
match application needs. For example, if a torque/force sensor produces 2  
volts per Newton-meter, the drive could be scaled to match this by using  
DMTSCL5— this sets 10V = 5 N-m (0.5 N-m/Volt). DMTLIMmay limit  
torque/force to less than this full-scale value.  
Note: To configure the drive in torque/force mode so that a 10-volt  
torque/force command produces the rated peak current of the drive (without  
reference to motor parameters), enter for DMTSCLthe result of the following  
calculation:  
⎛
⎜
⎜
⎝
⎞
⎟
⎟
⎠
3 3  
DMTSCL = TDIMAX  
DMTKE  
200π  
Rotary Motors: V*/krpm  
Linear Motors: V*/m/s  
* peak value  
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DMTSWT  
Type  
Motor temperature switch type  
Motor configuration  
Product Rev  
Aries 2.10  
<a_>DMTSWT<i>  
Syntax  
Units  
i = motor temp switch type  
0 (Normally closed switch)  
Range  
1 (Positive temperature coefficient thermistor)  
2 (Normally open switch)  
3 (Negative temperature coefficient thermistor)  
DMTSWT0  
Default  
DMTSWT: <*>0  
Response  
See Also  
DTHERM, TMTEMP  
DMTSWTsets the type of motor switch used. Values of 0 or 1 behave exactly  
the same and are interchangeable. DMTSWT3specifies a negative  
temperature coefficient thermistor. In this case TMTEMPreports the higher of  
the motor thermal model value or the calculated thermistor temperature,  
once the thermistor temperature is above 60 degrees C. The drive faults with  
a motor temperature fault at a thermistor temp of 105 degrees C or the motor  
thermal model setpoint (whichever is lower) when DMTSWTis set to 3.  
The default value for this command is DMTSWT0and will work with both  
positive temperature coefficient thermistors or normally closed switches.  
DMTTCM  
Type  
Motor Thermal Time Constant  
Motor  
Product  
Rev  
<a_>DMTTCM<r>  
r = minutes  
Ø.Ø to 12Ø.Ø : ±Ø.1  
Ø.Ø  
Syntax  
Aries  
1.0  
Units  
Range  
Default  
DMTTCM: <*>3Ø.4  
Response  
See Also  
DMTR, DMTTCW  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
The DMTTCMcommand specifies the thermal time constant of the motor and  
its mounting. The drive uses this value to help protect the motor from thermal  
damage. It describes the length of time the motor takes to reach 63% of its  
final temperature, given constant power. Note that the motor mounting  
affects this measurement.  
Continuous current ratings and published time constants for Parker motors  
are specified when mounted to a 10" x 10" x ¼" aluminum plate in 25°C open  
air. If your mounting surface provides heat-sinking or thermal mass  
significantly different from this, a different value may be appropriate to your  
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application. Note also that the time constant of the motor winding itself  
(DMTTCW) is much faster than this; therefore, the rise in winding temperature  
will initially be much faster than DMTTCMwould suggest.  
DMTTCW  
Type  
Motor Winding Time Constant  
Motor  
Product  
Rev  
<a_>DMTTCW<r>  
r = minutes  
Ø.ØØ to 6Ø.ØØ : ±Ø.Ø1  
Ø.ØØ  
Syntax  
Aries  
1.0  
Units  
Range  
Default  
DMTTCW: <*>28.4Ø  
Response  
See Also  
DMTR, DMTRWC, DMTTCM  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
The DMTTCWcommand specifies the time constant of the motor winding  
alone. This is the time for the winding to reach 63% of its final temperature  
rise above the rest of the motor, given constant power. Note that this is not  
the time constant usually specified in motor data sheets (see DMTTCM); the  
DMTTCWvalue is typically much faster.  
DMTW  
Type  
Motor Rated Speed  
Motor  
Product  
Rev  
<a_>DMTW<r>  
Syntax  
Units  
Aries  
1.0  
Rotary motor: r = revolutions/second  
Linear motor: r = meters/second  
Ø.Ø to 400.Ø : ±Ø.1  
Range  
Ø.Ø (DMTW of Ø results in motor configuration error)  
Default  
DMTW:  
<*>15Ø.Ø  
Response  
See Also  
DMEPIT, DMTICD, DMTR  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number. Otherwise, the drive  
reports the configuration errors EØ–Motor Configuration Warningand  
E4–Rated Speed = Ø, and shuts down the drive.  
For a list of automatically configured commands, see DMTR.  
The DMTWcommand specifies the rated speed of the motor. This is the lesser  
of the following:  
•
(Rotary motor) Motor mechanical limited speed  
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•
•
(Rotary motor) Encoder limit of 5 MHz (pre-quadrature)  
Linear motor speed limitations include encoder resolution and track  
length.  
•
The corner of the continuous speed/torque or speed/force curve  
(the point where the continuous and peak torque/force curves  
meet).  
The DMTWvalue is used in conjunction with DMTICDto protect the motor from  
thermal damage.  
DMVLIM  
Type  
Velocity Limit  
System  
Product  
Rev  
<a_>DMVLIM<r>  
Syntax  
Units  
Aries  
1.0  
Rotary motor: r = revolutions/second  
Linear motor: r = meters/second  
Ø.ØØ to 40Ø.ØØ : ±Ø.Ø1  
125.ØØ  
Range  
Default  
DMVLIM: <*>5Ø.ØØ  
Response  
See Also  
DMODE, DMTR  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
The DMVLIMcommand sets a limit that the commanded velocity cannot  
exceed without affecting gains or scaling. This is typically used to protect  
parts of the mechanical system.  
If the velocity demand from the internal Aries control loops exceeds the limits  
set by DMVLIM, the Aries invokes the “Override Mode”, in which the drive  
software clamps the maximum velocity to the value set by DMVLIM.  
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DMVSCL  
Type  
Velocity Scaling  
Drive Configuration  
<a_>DMVSCL<r>  
Product  
Rev  
Syntax  
Aries  
2.0  
Rotary motor: r = revolutions/second  
Linear motor: r = meters/second  
Units  
Ø.ØØ to 4ØØ.ØØ (motor/drive dependent): ±Ø.Ø1  
Range  
4.ØØ  
Default  
DMVSCL: <*>1ØØ.Ø  
Response  
See Also  
DMODE, DMTR  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to 4.00—you must  
manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
The DMVSCLcommand scales the velocity command input. This command is  
only valid in Velocity mode (DMODE4). It sets the full-scale velocity that will be  
produced from a 10-volt input command. It controls the gain applied to the  
input. This can be used to scale the input to match application needs. For  
example, if an application requires a maximum speed of 10 Rev/Sec, then  
the DMVSCLcould be set to 10. This would scale the input to 1Rev/Sec for  
every volt applied to the input.  
DNOTAD  
Type  
Notch Filter A Depth  
Tuning  
Product  
Rev  
<a_><!>DNOTAD<i>  
n/a  
Syntax  
Aries  
2.0  
Units  
Ø.ØØØØ - 1.ØØØØ  
Ø.ØØØØ (depth is zero)  
DNOTAD: *DNOTAD.5  
Range  
Default  
Response  
See Also  
DMODE, DNOTAF, DNOTAQ, DNOTBD, DNOTBF,  
DNOTBQ, DNOTLD, DNOTLG  
The DNOTADcommand sets the depth for the commanded torque/force notch  
filter A. Setting this to zero (0) disables the filter. This command is useful in  
adjusting the maximum allowable attenuation and phase shift through the  
filter. The deeper the notch depth, the more attenuation and phase shift. In  
general, the notch depth is increased until the resonance is diminished.  
Increasing the depth further, might increase the phase shift to an  
unacceptable level and decrease the overall system performance.  
There are two cascaded notch filters labeled “A” and “B”. Both filters operate  
in exactly the same way. The diagram below shows the topology of these  
filters.  
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Figure 44 Notch Filter Topology  
The graphs below illustrate the transfer function for the magnitude and phase  
of the notch filter command output torque/force vs. the notch filter command  
input torque/force. In this example, the notch depths are set to .3, .6, and .9  
(DNOTAD.3, DNOTAD.6, DNOTAD.9). The notch center frequency is set to  
200 Hz (DNOTAF2ØØ) and the “Q” is set to 1 (DNOTAQ1).  
Figure 45 Notch Filter Magnitudes  
These filters operate in all DMODEsettings except Autorun (DMODE1).  
DNOTAF  
Type  
Notch Filter A Frequency  
Tuning  
Product  
Rev  
<a_><!>DNOTAF<i>  
i = Hz  
Syntax  
Aries  
2.0  
Units  
Ø (disable), or 6Ø-1ØØØ  
Ø (filter is disabled)  
DNOTAF: *DNOTAF2ØØ  
Range  
Default  
Response  
See Also  
DNOTAD, DNOTAQ, DNOTBD, DNOTBF, DNOTBQ,  
DNOTLD, DNOTLG  
The DNOTAFcommand sets the center frequency for the commanded  
torque/force notch filter A. Setting this to 0 disables the filter. If setting a  
value results in an internal calculation error, the last valid value is used, and  
TE15is set.  
There are two cascaded notch filters labeled “A” and “B”. Both filters operate  
in exactly the same way. The graphs below illustrate the transfer function  
(magnitude and phase) of the internal commanded torque/force vs. the user  
commanded torque/force. In this example, the notch frequency is set to 150  
Hz (DNOTAF15Ø) and the “Q” is set to 1 (DNOTAQ1).  
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Figure 46 Notch Filter A  
These filters operate in all DMODEsettings, except Autorun (DMODE1).  
DNOTAQ  
Type  
Notch Filter A Quality Factor  
Tuning  
Product  
Rev  
<a_><!>DNOTAQ<r>  
r = quality factor  
Ø.5 to 2.5  
Syntax  
Aries  
2.0  
Units  
Range  
1
Default  
DNOTAQ: *DNOTAQ1.5  
Response  
See Also  
DNOTAD, DNOTAF, DNOTBD, DNOTBF, DNOTBQ,  
DNOTLD, DNOTLG  
The DNOTAQcommand sets the quality factor (Q) for notch filter A. The  
quality factor, or width of the frequency trough, determines how discrete the  
filter is.  
For information about the filter’s transfer function characteristics, see  
DNOTAF.  
DNOTBD  
Type  
Notch Filter B Depth  
Tuning  
Product  
Rev  
<a_><!>DNOTBD<i>  
n/a  
Syntax  
Aries  
2.0  
Units  
Ø.ØØØØ - 1.ØØØØ  
.ØØØØ (depth is zero)  
DNOTBD: *DNOTBD.5  
Range  
Default  
Response  
See Also  
DNOTAD, DNOTAF, DNOTAQ, DNOTBF, DNOTBQ,  
DNOTLD, DNOTLG  
The DNOTBDcommand sets the depth for the commanded torque/force notch  
filter B.  
For information about the notch filter depth, see DNOTAD.  
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DNOTBF  
Type  
Notch Filter B Frequency  
Tuning  
Product  
Rev  
<a_><!>DNOTBF<i>  
i = Hz  
Syntax  
Aries  
2.0  
Units  
Ø (disable), or 6Ø-1ØØØ  
Ø (filter is disabled)  
DNOTBF: *DNOTBF2ØØ  
Range  
Default  
Response  
See Also  
DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBQ,  
DNOTLD, DNOTLG  
The DNOTBFcommand sets the center frequency for notch filter B. Setting  
this to 0 disables the filter. For a description of the filter’s transfer function  
characteristics, refer to the DNOTAFcommand description.  
DNOTBQ  
Type  
Notch Filter B Quality Factor  
Tuning  
Product  
Rev  
<a_><!>DNOTBQ<r>  
r = quality factor  
Ø.5 to 2.5  
Syntax  
Aries  
2.0  
Units  
Range  
1
Default  
DNOTBQ: *DNOTBQ1.5  
Response  
See Also  
DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTLD,  
DNOTLG  
The DNOTBQcommand sets the quality factor (Q) for notch filter B. The  
quality factor, or width of the frequency trough, determines how discrete the  
filter is.  
For information about the filter’s transfer function characteristics, see  
DNOTAF.  
DNOTLD  
Type  
Notch Lead Filter Break Frequency  
Tuning  
Product  
Rev  
<a_><!>DNOTLD<i>  
i = Hz  
Syntax  
Aries  
2.0  
Units  
Ø (disable), or 8Ø-1ØØØ  
Ø (filter is disabled)  
DNOTLD: *DNOTLD2ØØ  
Range  
Default  
Response  
See Also  
DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBF,  
DNOTLG  
The DNOTLDcommand sets the break frequency of the lead filter. This filter  
cannot be used alone, but must be used in conjunction with the DNOTLGlag  
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filter. The DNOTLGlag filter must be configured before the DNOTLDlead filter  
is configured.  
The DNOTLDvalue must be less than or equal to 4 times the DNOTLG(notch  
lag frequency) value; otherwise, the new DNOTLDvalue will be ignored (but  
not overwritten), the configuration warning bit (E17) will be set, and the last  
valid DNOTLDvalue will be used internally. This warning is cleared with the  
RESETcommand or by cycling power to the drive.  
This filter operates in all DMODEsettings, except Autorun (DMODE1).  
In the graphs below, the transfer function is shown relating the internal  
commanded torque/force vs. the user commanded torque/force. In this  
example, the lag frequency was set first to 40 Hz (DNOTLG4Ø) and then the  
lead filter was set to 160 Hz (DNOTLD).  
Figure 47 Notch Lead Filter Break Frequency  
DNOTLG  
Type  
Notch Lag Filter Break Frequency  
Tuning  
Product  
Rev  
<a_><!>DNOTLG<i>  
i = Hz  
Syntax  
Aries  
2.0  
Units  
Ø (disable), or 2Ø-1ØØØ  
Ø (filter is disabled)  
DNOTLG: *DNOTLG4ØØ  
Range  
Default  
Response  
See Also  
DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBF,  
DNOTBQ, DNOTLD  
The DNOTLGcommand sets the break frequency of the lag filter. This filter  
can be used alone, or in conjunction with lead filter (DNOTLD) to improve the  
phase response of the notch filters. In this case, the lag value (DNOTLG) must  
be greater than or equal to ¼ of the lead value (DNOTLD), but not greater  
than the DNOTLDvalue.  
If DNOTLGis lower than ¼ the value of DNOTLD, the new DNOTLGvalue is  
ignored (but not overwritten), the configuration warning bit (E17) is set, and  
the last valid DNOTLGvalue is used internally. This warning is cleared with  
the RESETcommand or by cycling power to the drive.  
This filter operates in all DMODEsettings, except Autorun (DMODE1).  
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DPOLE  
Type  
Number of Motor Pole Pairs  
Motor  
Product  
Rev  
<a_>DPOLE<i>  
Syntax  
Units  
Aries  
1.0  
i = pole pairs  
1 to 2ØØ  
Range  
Ø (DPOLE of Ø results in motor configuration error)  
DPOLE: <*>5Ø  
Default  
Response  
See Also  
DMTR  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number. Otherwise, the drive  
reports the configuration errors E1–Motor Configuration Errorand  
E5–DPOLE = Ø, and shuts down the drive.  
For a list of automatically configured commands, see DMTR.  
The DPOLEcommand sets the number of motor pole  
P
⎛ ⎞  
pairs. The number of pole pairs is defined as the  
number of poles (P), divided by 2 (or, P/2). The  
electrical frequency of the current (ωe) is related to  
the mechanical speed (ωm) of the motor by the pole  
pairs. The equation (right) shows this relationship.  
ω =  
ω
⎜ ⎟  
e
m
2
⎝ ⎠  
Note: All linear motors, regardless of the number of stator poles, are  
considered one pole-pair (DPOLE1) machines.  
DPWM  
Type  
Drive PWM Frequency  
Drive Configuration  
Product  
Rev  
<a_>DPWM <i>  
Syntax  
Units  
Aries  
1.0  
i = kHz  
16 or 32 (16 only for models AR-20xE and AR-30xE)  
16 (use the drive’s default frequency)  
Range  
Default  
Response  
See Also  
DPWM:  
<*>16  
STATUS  
Note: This command does not take effect until you cycle power to the drive,  
or send the RESET command.  
Use the DPWMcommand to select the drive’s PWM frequency. This value is  
the internal PWM frequency as seen at the motor windings; the motor ripple  
current is twice this frequency. In general, for a given drive power level, the  
higher the switching frequency, the lower the motor ripple current heating  
and the lower both the peak and continuous current ratings.  
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DRES  
Type  
Drive Resolution  
Drive configuration  
<a_>DRES<i>  
Product  
Rev  
Syntax  
Units  
Aries  
2.10  
i = Input Step Resolution  
200 to 10737141823  
4000  
Range  
Default  
DRES:  
<*>0  
Response  
See Also  
CMDDIR, DMPSCL  
The DREScommand is only used in step and direction mode (DMODE6  
and 7). Input steps will be scaled to the DRESvalue so DRESsteps on the  
input would translate to one revolution of the motor. DRESis set to ERES  
internally if DMPSCLis non-zero for backward compatibility with operating  
system 2.0. DMPSCLshould be set to 0 (a new option in OS 2.10) to enable  
DRESsupport.  
Note: This command requires a reset to take effect. DMPSCLchanges are  
immediate so it is possible to enable DRESsupport, then enable DMPSCL,  
and have both features working at once.  
DRIVE  
Type  
Drive Enable  
Drive Configuration  
<a_>DRIVE <b>  
b = enable bit  
1(enable) or Ø(disable)  
Ø
Product  
Rev  
Syntax  
Units  
Aries  
2.0  
Range  
Default  
Response  
See Also  
DRIVE:  
<*>Ø  
ERROR  
The DRIVEcommand allows you to enable or disable (shut down) the drive.  
If the hardware enable input is closed on power-up, the drive is automatically  
enabled (generates a DRIVE1command). To disable the drive, either issue  
the DRIVEØcommand or open the hardware enable interlock.  
Conversely, if the hardware enable input is open on power-up, the drive is  
disabled (DRIVEØ). To enable the drive, close the hardware enable input. To  
verify the hardware enable input is open, query the ERRORcommand for E46  
– Hardware Enable.  
Note: Issuing a DRIVE1command from a DRIVEØcondition will set the  
position error to zero (TPER= Ø).  
All of these “Fault Conditions” automatically cause a shut down (DRIVEØ), as  
well as activate the “fault” output and open the dry contact relay (“RELAY  
N.O.”):  
•
Certain axis “fault” conditions – refer to the status bits denoted with  
an asterisk (*) in the ERRORdescription.  
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•
If operating in the FLTDSB1mode and the drive received a DRIVEØ  
command or the hardware enable input was opened.  
DTHERM  
Type  
Thermal Switch Checking  
motor  
Product  
Rev  
<a_>DTHERM<b>  
b = enable bit  
Ø(enable) or 1(disable)  
Ø
Syntax  
Aries  
1.0  
Units  
Range  
Default  
DTHERM: *Ø  
Response  
See Also  
DMTSWT  
The DTHERM command is used to disable drive faults when the motor  
thermal switch opens. It is useful when no thermal switch is present on the  
motor. Send the DTHERMØ command to re-enable thermal switch checking.  
ECHO  
Type  
Communication Echo Enable  
Communication Interface  
Product  
Rev  
<a_>ECHO<b>  
Syntax  
Units  
Aries  
1.0  
b = enable bit  
Ø (disable) or 1 (enable)  
1
Range  
Default  
Response  
See Also  
ECHO:  
<*>1  
ADDR, STATUS  
The ECHOcommand enables/disables command echo. If using an RS-485  
multi-drop, disable echo.  
Note: The ECHOcommand has no obvious effect. You will always see the  
characters that you type echoed on the screen. Only after you send a  
command delimiter (carriage return or line feed) is a command line sent to  
the Aries drive.  
Maximum pre-quadrature encoder frequency  
ENCFLT  
Type  
Drive configuration  
Product  
Rev  
<a_>ENCFLT<i>  
Syntax  
Aries  
3.0  
None  
Units  
0 (1.02MHz ), 1 (2.67MHz) or 2(5MHz)  
Range  
0
Default  
Response  
See Also  
ENCFLT: <*>0  
None  
For increased noise immunity, rotary motors have increased filtering on the  
encoder input. The maximum input frequency in 1.02 MHz pre-quadrature for  
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rotary motors by default. If a linear motor is configured, the drive sets a 2.67  
MHz pre-quadrature maximum input encoder frequency by default.  
The ENCFLTcommand increases the default maximum pre-quadrature  
encoder frequency from 1.02 MHz to 2.67 MHz or 5 MHz. This allows users  
to take advantage of the higher input frequency, if necessary, at the expense  
of some noise immunity.  
Note: This command does not take effect until you cycle power to the drive  
or send the RESETcommand.  
ENCOFF  
Type  
Encoder Offset  
Motor configuration  
<a_>ENCOFF<i>  
i = encoder offset  
-32768 to 32767  
0
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
Range  
Default  
ENCOFF:  
<*>0  
Response  
See Also  
ALIGN, ENCPOL, SHALL, IANI, CMDDIR, P163  
The ENCOFFcommand specifies the encoder offset. All standard (non-smart)  
Parker encoders have an encoder offset of 0 degrees. The smart encoders  
store the encoder offset in the motor, which the drive reads (and stores in the  
ENCOFF parameter) upon power-up. The offset can vary from  
–180 degrees (corresponding to ENCOFF=-32768) to +180 degrees  
(corresponding to ENCOFF= 32767).  
Note: To convert from degrees to counts, just multiply the offset in degrees  
by 182.044.  
ENCPOL  
Type  
Encoder Polarity  
Drive Configuration  
Product  
Rev  
<a_>ENCPOL<b>  
Syntax  
Aries  
2.0  
b = polarity bit  
Units  
0 (normal polarity), 1 (reverse polarity)  
Range  
0
Default  
Response  
See Also  
ENCPOL: <*>0  
ALIGN, CMDDIR, TPE, TPER  
The ENCPOLcommand reverses the encoder counting direction.  
You can reverse the encoder polarity if the encoder input is counting in the  
wrong direction (for example, using a custom motor). This reverses the  
encoder counting direction without having to change the actual wiring to the  
encoder input.  
Notes  
•
This command does not take effect until you cycle power to the  
drive or send the RESETcommand.  
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•
To reverse the commanded direction of motion, make sure there is  
a direct correlation between commanded direction and encoder  
direction. You can then issue the CMDDIRcommand to reverse both  
the commanded direction and the encoder direction.  
For more information, see CMDDIR.  
•
The ENCPOLcommand will not affect the encoder output. If  
ENCPOL1is required on the drive for servo stability, the equivalent  
command will also be required on the controller.  
ERES  
Type  
Encoder Resolution  
Encoder Configuration  
<a_>ERES<i>  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
Rotary motor: i = counts/revolution  
Linear motor: i = counts/electrical pitch  
32 to 1Ø73741823  
Range  
4ØØØ (4096 for Resolver option)  
Default  
ERES:  
<*>4ØØØ  
Response  
See Also  
DMEPIT, DMTR, TPE  
Auto-Setup: When using a Parker motor and the Aries Support Tool, this  
command is automatically set for the selected motor.  
If you did not use the Aries Support Tool, are using non-Parker motors, or  
sent an RFScommand to the drive, the parameter is set to zero (0)—you  
must manually set this parameter to a non-zero number.  
For a list of auto-configured commands, see DMTR.  
Use the EREScommand to establish the encoder resolution (post  
quadrature) in counts/rev or counts/electrical pitch. (To set a linear motor’s  
electrical pitch, refer to the DMEPITcommand).  
The servo system's resolution is determined by the resolution of the encoder  
used with the servo motor. The EREScommand establishes the number of  
counts (post quadrature), per unit of travel. For example, Parker’s SM and  
NeoMetric Series motors with the “E” encoder option use 1,000-line  
encoders, and therefore have a 4,000 count/rev post-quadrature resolution  
(requires ERES4ØØØ). If the encoder is mounted directly to the motor, the  
Aries’ resolution (ERESvalue) must match the encoder's resolution to ensure  
that the motor will move according to the programmed distance and velocity.  
Resolutions for Parker Encoders  
Servo axes  
BE Series Servo Motors..........................BExxxxJ-xxxx: ERES8000  
................................................................BExxxxL-xxxx: ERES20000  
SE, SM, N, or J Series Servo Motors .....SE/SM/N/JxxxxD-xxxx: ERES2000  
................................................................SE/SM/N/JxxxxE-xxxx: ERES4000  
MPM Series.............................................MPMxxxxxxxxJMxx: ERES4000  
................................................................MPMxxxxxxxxJNxx: ERES8000  
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................................................................MPMxxxxxxxxJLxx: ERES10000  
................................................................MPMxxxxxxxxJPxx: ERES12000  
................................................................MPMxxxxxxxxJQxx: ERES20000  
................................................................MPMxxxxxxxxJTxx: ERES24000  
................................................................MPMxxxxxxxxJXxx: ERES4096  
................................................................MPMxxxxxxxxJYxx: ERES8192  
................................................................MPMxxxxxxxxJZxx: ERES16384  
Note: Motors with the Smart Encoder option set ERES automatically.  
Changing the ERES value may cause unpredictable motor responses.  
Note: ERES is fixed at 4096 for Aries drives with Resolver option.  
Daedal Positioning Tables (encoder options)  
-E2...........................................................ERES42000  
-E3...........................................................ERES84000  
-E4...........................................................ERES420000  
-E5...........................................................ERES8400  
For linear servo motors, use the following equation to determine the proper  
ERES, based on both the encoder resolution and the motor’s electrical (or  
magnetic) pitch (DMEPIT).  
DMEPIT (mm)  
ERES =  
mm  
Encoder _ resolution (  
count)  
Example  
Linear encoder resolution (post quad) is 1 μm and the electrical pitch is 42  
mm (DMEPIT42). ERESis calculated as:  
42 (mm)  
ERES =  
= 42000  
1⋅10-3  
mm  
(
count)  
ERROR  
Type  
Error-Checking Report-Back  
Error Handling  
<a_>ERROR  
N/A  
Product  
Rev  
Syntax  
Aries  
1.0  
Units  
Range  
N/A  
Default  
Response  
See Also  
ERROR:  
none  
<*>NO ERRORS  
The ERRORcommand gives a text-based status report of drive errors  
(E25through E46) that currently prevent the drive from enabling.  
To re-enable the drive correct the specified fault, then reset the drive or cycle  
power to it.  
Table 46 contains the possible errors appearing in the text-based report and  
their descriptions.  
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Error  
Description  
E25—Excessive Command  
Voltage at Enable  
The command voltage (at the ANI+ terminal) was  
too high when the drive was enabled. Lower the  
voltage at the ANI+ terminal. Try using the fault on  
startup voltage. (FLTSTP)  
E26—Drive Faulted  
The drive is faulted.  
E27—Bridge Hardware Fault  
E28-Bridge Temperature Fault  
Excessive current or short on the H-bridge.  
Excessive current being commanded:  
1. If the application is operating in the peak range,  
limiting the peak current setting with DMTLIM can  
limit the current commanded and lower the bridge  
temperature. Default DMTLIM is 3 x continuous  
current, perhaps lowering it to 2.5 x continuous  
current or 2 x continuous current can help. This,  
however, will limit the motor’s available torque,  
which may increase position error and possibly  
cause a position error fault.  
2. Issue a DIFOLD 1 command. This command  
enables the “current foldback” feature in the drive.  
However, a drive in “foldback” mode can limit the  
motor’s available torque, which may increase  
position error and possibly cause a position error  
fault.  
3. Use a larger Aries amplifier, which would be  
capable of higher current outputs.  
E29—Drive Over-voltage  
E3Ø—Drive Under-voltage  
E31—Bridge Foldback  
The bus voltage is too high (>410 VDC). Lower  
the AC Mains voltage and check for excessive  
regeneration power. (TVBUS)  
The bus voltage is too low (<85 VDC) or there is  
overly aggressive acceleration or deceleration.  
Raise the AC Mains voltage. (TVBUS)  
Drive current was limited to prevent overheating  
(warning only). See DIFOLD.  
E32—Power Regeneration Fault  
E34—Drive Temperature Fault  
Check the Regeneration resistor for a short.  
Wait for the drive to cool down. (TDTEMP)  
E35—Motor Thermal Model  
Fault  
The motor thermal model has determined the  
motor is too hot. Wait for the motor to cool, and  
then re-enable the drive. (TMTEMP)  
E36—Motor Temperature Fault  
Motor thermal switch has tripped. Wait for the  
motor to cool, and then re-enable the drive.  
(TMTEMP)  
E37—Bad Hall State  
A problem with the Hall sensors exists. Check the  
Hall state wiring. (THALL)  
E38-Feedback Failure  
Feedback not present or the signal level is  
incorrect. (TPE, THALL)  
E39—Drive Disabled  
E4Ø—PWM Not Active  
The drive is disabled. (DRIVE)  
The H-bridge is not switching.  
The drive regenerated (warning only).  
E41—Power Regeneration  
Warning  
E42-Shaft Power Limited  
Warning  
Shaft power is limited to the rated output to protect  
the drive (warning only).  
E43-Excessive Speed at  
Enable  
The motor was turning too fast when the drive was  
enabled.  
E44-Excessive Position Error  
Commanded position. Actual Position is greater  
than the value set by SMPER.  
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Error  
Description  
E45-Excessive Velocity Error  
Commanded velocity. Actual Velocity is greater  
than the value set by SMVER.  
E46-Hardware Enable  
0 = Hardware Enable (Drive I/O Pin 1 and 21)  
1 = No Hardware Enable  
E47-Low Voltage Enable  
E48-Control Power Active  
E49-Alignment Error  
No motor power was present when the drive was  
enabled.  
The drive is in Control power mode. No motor  
power is present.  
The ALIGNcommand did not complete  
successfully. (TPE, THALL)  
E50-Flash Error  
A problem writing to non-volatile memory exists.  
(RFS).  
E51-Resolver Error  
A problem determining the correct resolver angle  
exists. Applies to Arxx-xR models only. Check the  
resolver feedback wiring.  
E52-Encoder Loss Fault  
The drive determined there was loss of feedback.  
Check the feedback wiring. (TPE, THALL)  
Table 46 Error Status⎯Text Based Report  
ERRORL  
Type  
Error Log Selection  
Error Handling  
Product  
Rev  
<a_>ERRORL<b><b>...<b><b> (32 bits)  
b = enable bit  
Syntax  
Aries  
1.0  
Units  
Ø (disable) or 1 (enable)  
1111111111111111  
Range  
Default  
Response  
ERRORL:  
<*>ØØØØ_ØØØØ_ØØØØ_ØØØØ  
bit 15  
bit Ø  
See Also  
CERRLG, ERROR, TERRLG  
Use the ERRORLcommand to choose the conditions that will be included in  
the error log. When an error log bit is enabled (ERRORL11...11), the  
operating system will respond to a specific execution error by making an  
entry in the error log. Each bit corresponds to a different error condition (see  
Table 47). To enable or disable a specific bit, the syntax is ERRORL=B.n-b,  
where “n” is the error bit number and “b” is either one (1) to enable or zero  
(Ø) to disable.  
Use the TERRLGcommand to view the error log. Use the CERRLGcommand  
to clear the error log.  
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Bit  
0
Function  
Enable/Disable (Hardware enable input or software DRIVEcommand)  
Bridge Fault  
1
2
No PWM output (H-bridge switching)  
Over Voltage (DC bus)  
3
4
Under Voltage (DC bus)  
5
Startup Voltage (analog command voltage)  
Drive Over Temperature  
6
7
Motor Over Temperature (calculated by thermal model)  
Motor Thermal Switch  
8
9
Feedback Error  
10  
11  
12  
13-15  
Hall Error  
Motor Configuration Error  
Regeneration Fault  
Reserved  
Table 47 Error Log⎯Enable/Disable  
ESTORE  
Type  
Store smart encoder data  
Motor configuration  
Product Rev  
Aries 1.0  
<a_>ESTORE  
Syntax  
Units  
N/A  
N/A  
0
Range  
Default  
<*>Storing  
<*>Stored  
Response  
See Also  
Motor configuration commands  
The ESTOREcommand is used to store all relevant motor configuration data  
to the smart encoder. If changes are made to the motor configuration (for  
example, if the current loop gains are tuned higher for the application), you  
can store the changes by typing ESTOREinto the terminal and pressing  
Enter.  
The drive responds with Storing, and then Stored once the parameters have  
been stored. After a reset, the new values are read from the encoder.  
Note: The ESTOREcommand stores the following parameters in the encoder:  
DMTD, DMTIC, DMTIND, DMTINF, DMTJ, DMTKE, DMTLIM, DMTR,  
DMTRES, DMTRWC, DMTSCL, DMTSWT, DMTTCW, DMTTWM, DMTW,  
DMVLIM, DPOLE, DPWM, DTHERM, ENCOFF, ENCPOL, IGAIN,  
INTLIM, PGAIN, P163.  
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FLTDSB  
Type  
Fault on Drive Disable  
Drive Configuration  
<a_>FLTDSB<b>  
Product  
Rev  
Syntax  
Aries  
1.0  
b = enable bit  
Units  
Ø (disable) or 1 (enable)  
Range  
Default  
Response  
See Also  
ERROR, FLTSTP, TOUT  
Use the FLTDSBcommand to enable/disable the Fault on Drive Disable  
mode. If Fault on Drive Disable is enabled (FLTDSB1– default setting), and  
the drive is disabled via the Enable input, fault output is activated and the  
brake relay is opened.  
FLTSTP  
Type  
Fault on Excessive Startup Voltage  
Drive Configuration  
<a_>FLTSTP<r>  
Volts  
Product  
Rev  
Syntax  
Aries  
1.0  
Units  
Ø to 1ØV  
Range  
1ØV  
Default  
Response  
See Also  
FLTSTP: <*>1  
DMODE  
Use the FLTSTPcommand to set the threshold for the Fault on excessive  
startup voltage. The default is 10.00V, so no command input will fault the  
drive. If the threshold is set lower, a command voltage above this level, when  
the drive is enabled, will fault the drive. To re-enable the drive without  
causing a fault, command an input voltage below the set value.  
IANI  
Type  
Invert Analog Input  
Drive configuration  
Product  
Rev  
<a_>IANI<b>  
Syntax  
Units  
Aries  
2.10  
b = enable bit  
0 (do-not invert analog input) or 1 (invert analog  
input)  
Range  
0
Default  
IANI <*>0  
Response  
See Also  
ENCPOL, CMDDIR, DCMDZ,TANI  
Note: This command requires a reset to take effect  
The IANIcommand inverts the polarity of the analog input to the drive. This  
has the effect of reversing any torque or velocity command. It can be useful  
when using custom wiring during initial setup of the drive.  
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Sending an IANI1command inverts the input polarity. In addition, the  
command TANIreflects this change.  
IAUTO  
Type  
Automatically determine Current Loop Gains  
Tuning  
Product  
Rev  
<a_>IAUTO<b>  
Syntax  
Units  
Aries  
3.0  
none  
0 (disable) or 1 (enable)  
1
Range  
Default  
Response  
See Also  
IAUTO:  
<*>1  
PGAIN, IGAIN, DIBW  
The IAUTOcommand allows the drive to automatically determine the current  
loop gains according to the bandwidth set via the DIBWcommand, and the  
motor parameters (Resistance and Inductance). This can give improved  
current loop response compared to using the default gains set by the support  
tool.  
IGAIN  
Type  
Integral Gain  
Tuning  
Product  
Rev  
<a_>IGAIN  
Syntax  
Units  
Aries  
1.0  
none  
Ø.ØØ to 1ØØ.ØØ  
1
Range  
Default  
Response  
See Also  
IGAIN:  
<*>1.ØØ  
IAUTO, PGAIN, SGI  
The IGAINcommand sets the integral gain of the current loop. High gains  
can emphasize resonance and system noise, adds to heating of both motor  
and drive, and increases acoustic noise produced by the motor.  
INPOS  
Type  
Enable In Position Output  
Drive Configuration  
Product  
Rev  
<a_>INPOS<b>  
Syntax  
Units  
Aries  
2.0  
b = enable bit  
Ø (disable) or 1(enable)  
Ø
Range  
Default  
Response  
See Also  
INPOS:  
<*>Ø  
INPOSDB, INPOSTM  
Use the INPOScommand to replace the Fault output with an In-Position  
output when using the drive in step & direction modes (DMODES6and 7). If  
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the In-Position output is enabled, the output will be active when the motor  
satisfies the In-Position criteria (as specified by the INPOSDBand INPOSTM  
commands). To restore the Fault Output functionality, use INPOSØ.  
INPOSDB  
Type  
In-Position Deadband  
Drive Configuration  
<a_>INPOSDB<i>  
i = deadband in counts  
Ø-32767  
Product  
Rev  
Syntax  
Aries  
2.0  
Units  
Range  
Ø
Default  
INPOSDB: <*>Ø  
Response  
See Also  
INPOSTM, INPOS, TPER  
Use the INPOSDBcommand to specify the deadband in encoder counts for  
the In-Position command. For the ‘In-Position’ output to be classed active,  
the position error (as specified by the TPERcommand) should be less than or  
equal to this value.  
INPOSTM  
Type  
In-Position timeout value  
Drive Configuration  
<a_>INPOSTM<i>  
i = ms  
Product  
Rev  
Syntax  
Aries  
2.0  
Units  
1-1ØØØØ  
Range  
1
Default  
INPOSTM: <*>1  
Response  
See Also  
INPOSDB, INPOS  
Use the INPOSTMcommand to specify the time in ms before the In-Position  
output becomes active when the In-Position deadband criteria is met. The  
drive must not receive any incoming steps during this time in order for the  
In-Position output to become active.  
System Load-to System Load-to-Rotor/Forcer  
Inertia/Mass Ratio  
LJRAT  
Tuning  
Type  
Product  
Rev  
<a_>LJRAT<i>  
Syntax  
Units  
Aries  
2.0  
Load to Rotor Inertia Ratio  
Ø.Ø – 1ØØ.Ø  
Ø.Ø  
Range  
Default  
Response  
See Also  
LJRAT:  
<*>Ø.ØØ  
IGAIN, PGAIN  
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This command is only valid in DMODE4(velocity mode) and DMODE6or 7  
(position mode). The LJRATcommand sets the system’s load-to-rotor inertia  
ratio (rotary motors) or load-to-forcer mass ratio (linear motors). The ratio is  
expressed in the following equation:  
•
Rotary Motors— LJRAT= load inertia / motor rotor inertia  
(Total system inertia = load inertia + motor rotor inertia)  
•
Linear Motors— LJRAT= load mass / forcer mass  
(Total system mass = load mass + forcer mass)  
OHALL  
Type  
Hall-Only Commutation  
Drive configuration  
Product Rev  
Aries 2.10  
<a_>OHALL<i>  
Syntax  
Units  
i = Hall commutation type  
0 (sinusoidal commutation)  
1 (trapezoidal commutation)  
2 (DC Brushed motor commutation)  
3 (Z-channel commutation – Smart Encoder only)  
4 (Hall-less startup)  
Range  
0
Default  
OHALL:  
<*>0  
Response  
See Also  
ALIGN, SFB,THALL  
Note: This command requires a reset to take effect.  
The OHALLcommand sets the commutation type. Use OHALL1to set  
trapezoidal commutation and OHALL2for DC brushed motors. DC brushed  
motors should be wired to motor phases U&W, if they are used. The default  
is OHALL0(sinusoidal encoder commutation once the first hall transition has  
occurred).  
When using OHALL 1, turn off feedback auto-detection by setting SFBto 2.  
There are application limitations to observe when using OHALL4 (Hall-less  
commutation startup). When the Aries drive is enabled with OHALL4set, the  
motor is moved slightly in open-loop mode and encoder position is monitored  
to determine the rotor’s position in relation to the stator (or forcer/coil in  
relation to the magnet track for linear motors). For this reason, OHALL4 will  
not work in vertical applications or applications with heavy loads and/or high  
frictional loads. If the motor has trouble turning smoothly with the drive in  
“auto run” mode (DMODE1), that is a good indication that OHALL4 will be  
unsuccessful.  
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OUTBD  
Type  
Output Brake Delay  
Output  
Product  
Rev  
<a_>OUTBD<i>  
milliseconds  
Ø-1ØØØØ  
Syntax  
Aries  
1.0  
Units  
Range  
Ø
Default  
Response  
See Also  
OUTBD:  
none  
<*>25Ø  
The OUTBDcommand specifies the amount of time that the brake relay will  
remain asserted after the current is applied to the motor windings when the  
drive is enabled. This allows torque to build up in the motor while the fault  
output is still high. This is important in vertical applications where the motor  
must be able to support the load before the brake is released.  
P163  
Type  
Hall direction P163  
Drive configuration  
Product  
Rev  
<a_>P163<i>  
Syntax  
Units  
Aries  
1.0  
i = hall direction  
0 (Halls count 623154623… as encoder counts +ve)  
1 (Halls count 326451326… as encoder counts +ve)  
Range  
0
Default  
P163:  
<*>0  
Response  
See Also  
ENCOFF, SHALL, CMDDIR, ENCPOL, IANI  
Note: This command does not take effect until you cycle power to the drive,  
or send the RESETcommand  
The P163 command determines the order the Hall sensors count as the  
encoder counts in a +ve direction. The default, P163=0, specifies that as the  
encoder counts in a +ve direction that the Hall sensors count 6,2,3,1,5,4,6,…  
P163=1 specifies that the hall sensors count in the opposite direction as the  
encoder counts in the +ve direction.  
This command has the same effect as swapping hall wires A and B to the  
drive.  
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PGAIN  
Type  
Proportional Gain  
Tuning  
Product  
Rev  
<a_>PGAIN<r>  
None  
Syntax  
Units  
Aries  
1.0  
Ø.ØØ to 2ØØ.ØØ  
2Ø.ØØ  
Range  
Default  
Response  
See Also  
PGAIN: <*>2Ø.ØØ  
DIBW, IAUTO, IGAIN  
The PGAIN command sets the proportional gain of the current loop. High  
gains can emphasize resonance and system noise, adds to heating of both  
motor and drive, and increases acoustic noise produced by the motor.  
PSET  
Type  
Establish Absolute Position  
Tuning  
Product  
Rev  
<a_>PSET<r>  
Syntax  
Units  
Aries  
2.0  
None  
-2,147,483,648 to +2,147,483,647  
N/A  
Range  
Default  
Response  
See Also  
PSET:  
N/A  
TPC, TPE  
Use the PSETcommand to offset the current absolute position to establish an  
absolute position reference. All PSETvalues entered are in counts.  
The PSETcommand will define the present commanded position (TPC) to be  
the absolute position entered.  
Example  
PSETØ  
; Wherever the present actual or commanded position  
; happens to be, consider that position to have an  
; absolute position of zero.  
RESET  
Type  
Reset  
Communication Interface  
Product  
Rev  
<a_>RESET  
Syntax  
Units  
Aries  
1.0  
N/A  
N/A  
Range  
N/A  
Default  
Response  
See Also  
RESET: (Displays power applied message)  
RFS, TREV  
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The RESETcommand affects the Aries drive the same as cycling power, or  
activating the hardware Reset inputs (pins 18 and 23 on the DRIVE I/O  
connector). The drive’s parameters are retained in non-volatile memory.  
Note: After sending the RESETcommand to the Aries, wait until you see the  
power-applied message before communicating with the Aries.  
RFS  
Return to Factory Settings  
Drive Configuration  
Type  
Product  
Rev  
<a_>RFS  
N/A  
Syntax  
Units  
Aries  
1.0  
N/A  
Range  
Default  
Response  
See Also  
N/A  
N/A  
RESET, TDHRS, TREV  
The RFScommand returns all settings to factory default, with the exception  
of the TDHRSvalue. A RESETcommand is automatically sent following this  
command; therefore, no prompt will be returned.  
When is the RFSevent finished? The RFSprocess can take several  
seconds. When RFSis finished, the drive transmits the power-applied  
message.  
Recommendation: When finished configuring the drive using the Aries  
Support Tool, save the configuration file to your personal computer’s (PC)  
hard drive for safekeeping. If, after executing the RFScommand, you need to  
restore the previous configuration, re-download the configuration file and  
program files to your drive. (Remember to reset the drive to invoke new  
configuration settings).  
SFB  
Type  
Set Feedback Type  
Drive configuration  
Product  
Rev  
<a_>SFB<i>  
Syntax  
Units  
Aries  
1.0  
i = feedback source  
0 (unknown)  
Range  
1 (OS 1.0,2.0: Standard Encoder OS2.10 or greater:  
Auto-Detect)  
2 (OS 2.10 or greater: specify Standard Encoder)  
3 (OS 3.10 or greater: Resolver option identified)  
5 (OS 2.10 or greater: specify Smart Encoder)  
6 (OS 2.10 or greater: reserved for absolute encoder)  
1
Default  
SFB:  
<*>5  
Response  
See Also  
STATUS  
In operating systems 2.0 or earlier, the SFBvalue reflected the type of motor  
that the drive auto-detected. In operating system 2.10 and beyond, you also  
can set a feedback type with the SFBcommand.  
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SFB1sets auto-detect mode and is the default setting. In auto-detect mode  
the SFBcommand reports the detected drive-type upon power-up. If SFBis  
set to a value other than 1, the drive assumes that type of encoder is  
attached and does not try to auto-detect the feedback type.  
In operating system 3.10 and beyond, the Aries Resolver option will report an  
SFB value of 3. Changing the value will not affect the drive operation and it  
will return to 3 on power-up.  
SGI  
Servo Gain Integral  
Tuning  
Type  
Product  
Rev  
<a_>SGI<i>  
i = gain value  
Ø.ØØ to 1ØØØ.ØØ  
Ø.ØØ  
Syntax  
Units  
Aries  
2.0  
Range  
Default  
Response  
See Also  
SGI:  
<*>Ø.ØØ  
SGILIM, SGP, SGV, IGAIN  
This command is only valid in DMODE4(velocity mode) and DMODE6or 7  
(position mode). Use the Integral Gain (SGI) command to set the gain of the  
integral term in the control algorithm. The primary function of the integral gain  
is to reduce or eliminate final position error (e.g., due to friction, gravity, etc.)  
and improve system accuracy during motion. If a position error exists  
(commanded position not equal to actual position—see TPERcommand), this  
control signal will ramp up until it is high enough to overcome the friction and  
drive the motor toward its commanded position. If acceptable position  
accuracy is achieved with proportional gain (SGP), then the integral gain  
(SGI) need not be used.  
If the integral gain is set too high relative to the other gains, the system may  
become oscillatory or unstable. The integral gain can also cause excessive  
position overshoot and oscillation if an appreciable position error has  
persisted long enough during the transient period (time taken to reach the  
position setpoint); this effect can be reduced by using the SGILIMcommand  
to limit the integral term windup.  
SGILIM  
Type  
Integral Windup Limit  
Tuning  
Product  
Rev  
<a_>SGILIM<i>  
i = Limit value  
Ø to 32767  
1
Syntax  
Units  
Aries  
2.0  
Range  
Default  
Response  
See Also  
SGILIM: <*>1  
SGI, SGP, SGV  
This command is only valid in DMODE4(velocity mode) and DMODE6 or 7  
(position mode). If integral control (SGI) is used and an appreciable position  
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error has persisted long enough during the transient period (time taken to  
reach the setpoint), the control signal generated by the integral action can  
end up too high and saturate to the maximum level of the drive's analog  
control signal output. This phenomenon is called integrator windup  
After windup occurs, it will take a while before the integrator output returns to  
a level within the limit of the controller's output. Such a delay causes  
excessive position overshoot and oscillation. Therefore, the integral windup  
limit (SGILIM) command is provided for you to set the absolute limit of the  
integral and, in essence, turn off the integral action as soon as it reaches the  
limit; thus, position overshoot and oscillation can be reduced.  
SGP  
Type  
Servo Gain Proportional  
Tuning  
Product  
Rev  
<a_>SGP<i>  
i = gain value  
Ø.ØØ to 1Ø0Ø.ØØ  
Ø.6Ø  
Syntax  
Units  
Aries  
2.0  
Range  
Default  
Response  
See Also  
SGP:  
<*>Ø.6Ø  
SGILIM, SGI, SGV, PGAIN  
This command is only valid in DMODE4(velocity mode) and DMODE6or 7  
(position mode). SGPallows you to set the gain of the proportional term in the  
servo control algorithm. The output of the proportional term is proportional to  
the difference between the commanded position and the actual position read  
from the feedback device. The primary function of the proportional term is to  
stabilize the system and speed up the response. It can also be used to  
reduce the steady state position error.  
When the proportional gain (SGP) is used alone (i.e., the other gain terms are  
set to zero), setting this gain too high can cause the system to become  
oscillatory, under damped, or even unstable.  
SGV  
Type  
Servo Gain Velocity  
Tuning  
Product  
Rev  
<a_>SGV<i>  
i = gain value  
Ø.ØØ to 1ØØØ.ØØ  
1.4Ø  
Syntax  
Units  
Aries  
2.0  
Range  
Default  
Response  
See Also  
SGV:  
<*>1.4Ø  
SGILIM, SGI, SGP  
This command is only valid in DMODE4(velocity mode) and DMODE6or 7  
(position mode). SGVallows you to control the velocity feedback gain in the  
servo algorithm. Using velocity feedback, the controller's output signal is  
made proportional to the velocity, or rate of change, of the feedback device  
position. Since it acts on the rate of change of the position, the action of this  
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term is to anticipate position error and correct it before it becomes too large.  
This increases damping and tends to make the system more stable.  
If this term is too large, the response will be slowed to the point that the  
system is over-damped.  
Since the feedback device signal has finite resolution, the velocity accuracy  
has a limit. Therefore, if the velocity feedback gain (SGV) is too high, the  
errors due to the finite resolution are magnified and a noisy, or chattering,  
response may be observed.  
SGVF  
Type  
Velocity Feedforward Gain  
Tuning  
Product  
Rev  
<a_><!>SGVF<i>  
Syntax  
Units  
Aries  
2.0  
N/A  
Ø-5ØØ  
1ØØ  
Range  
Default  
Response  
See Also  
SGVF:  
*SGVF1ØØ  
DMTD, LJRAT  
Use the SGVFcommand to set the velocity feedforward gain. Velocity  
feedforward control improves position tracking performance when the system  
is commanded to move at constant velocity. The velocity tracking error is  
mainly attributed to viscous friction.  
The SGVFvalue is multiplied by the commanded velocity calculated by the  
Aries drive’s move profile routine to produce an estimated torque command  
that gets added to the servo control signal. The value is normalized to the  
current setting of both the motor and load viscous damping terms (DMTD) as  
shown in the equation below.  
Estimated velocity torque = DMTD ⋅ velocity command  
14243  
SGVF value =100%  
Setting SGVFto one (1) theoretically produces zero (0) following errors during  
the constant velocity portion of a move profile. This assumes that the drive or  
motor are not being current limited, the values for viscous damping are  
accurate and the models used for analysis are correct. The value of SGVF  
can be adjusted from zero to as high as five (5) times (SGVF5) the theoretical  
value.  
Example  
SGVF2  
; Set velocity feedforward to 200% of theoretical value  
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SHALL  
Type  
Hall Sensor Configuration  
Drive Configuration  
<a_>SHALL<i>  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
i = control option number  
Ø (do not invert) or 1 (invert)  
Ø
Range  
Default  
Response  
See Also  
SHALL:  
<*>Ø  
ALIGN, RESET, THALL  
Note: This command does not take effect until you cycle power to the drive,  
or send the RESET command.  
The SHALLcommand controls the logic sense of the Hall sensors. To invert  
the sensors, use the SHALL1command. To check the present value of the  
Hall sensors, use the THALLcommand.  
SMAV  
Type  
Maximum Acceleration in Velocity Mode  
Tuning  
Product  
Rev  
<a_>SMAV<i>  
Syntax  
Units  
Aries  
2.0  
i = Acceleration in rev/sec2  
Ø.ØØ to 1ØØØØ.ØØ  
1ØØ.ØØ  
Range  
Default  
Response  
See Also  
SMAV:  
<*>1ØØ.ØØ  
DMODE  
This command is only valid in DMODE4(velocity mode). SMAV allows you to  
control the maximum acceleration permitted in velocity mode. Use this  
command to protect the mechanical systems from overly aggressive velocity  
changes. This command is scaled by the (ERES) command.  
SMPER  
Type  
Maximum Allowable Position Error  
Servo  
Product  
Rev  
<a_>SMPER<i>  
Syntax  
Aries  
2.0  
i = Feedback device steps  
Ø to 2,147,483,647  
4ØØØ  
Units  
Range  
Default  
Response  
See Also  
SMPER: <*>4ØØØ  
ERES, TPE, TPC, TPER  
This command is only valid in DMODE6or 7(position mode). SMPERallows  
you to set the maximum position error allowed before an error condition  
occurs. The position error, monitored once per system update period, is the  
difference between the commanded position and the actual position as read  
by the feedback device selected with the last SFBcommand. When the  
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position error exceeds the value entered by the SMPERcommand, an error  
condition is latched (ERRORbit #44) and the Aries drive issues a shutdown  
and sets its analog output command to zero volts. The DRIVE1command re-  
enables the drive, clears ERRORbit #44, and sets the commanded position  
(TPC) equal to the actual feedback device position (TPE) – incremental  
devices will be zeroed.  
If the SMPERvalue is set to zero (SMPERØ), the position error condition is not  
monitored, allowing the position error to accumulate without causing a fault.  
When SMPERis set to a non-zero value, the maximum position error acts as  
the servo system fault monitor; if the system becomes unstable or loses  
position feedback, the drive detects the resulting position error, shuts down  
the drive, and sets an error status bit.  
SMVER  
Type  
Maximum Allowable Velocity Error  
Servo  
Product  
Rev  
<a_>SMVER<i>  
i = Rev/Sec  
Ø.ØØ to 4ØØ.ØØ  
Ø.ØØ  
Syntax  
Aries  
2.0  
Units  
Range  
Default  
Response  
See Also  
SMVER: <*>Ø.ØØ  
ERES, TPE, TVEL, TVELA, TVER  
This command is only valid in DMODE4(velocity mode). SMVERdetermines  
the maximum velocity error allowed before an error condition occurs. The  
velocity error is the difference between the commanded velocity (TVEL) and  
estimated actual velocity (TVELA). If the error exceeds this value, a fault will  
result in which the drive is shut down (DRIVEØ) and ERROR bit #45 is set.  
The DRIVE1command re-enables the drive, clears ERRORbit #45, and sets  
TVELequal to TVELA.  
You can check the actual velocity error with the TVERcommand.  
If the SMVERvalue is set to zero (SMVERØ), the velocity error condition is not  
monitored, allowing the velocity error to accumulate without causing a fault.  
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STATUS  
Type  
Status (full-text report)  
Transfer  
Product  
Rev  
<a_>STATUS  
Syntax  
Aries  
1.0  
N/A  
Units  
N/A  
Range  
N/A  
Default  
Response  
STATUS: <*>GENERAL:  
<*>  
<*>  
<*>  
OS Revision: Aries Revision 1.Ø  
Power Level: 75ØW  
Control Power: INACTIVE  
<*>MOTOR:  
<*>  
<*>  
<*>  
<*>  
Motor Name: SM232AE  
Motor Type: ROTARY  
Feedback Type: SMART ENCODER  
Motor Temp: 4ØC  
<*>DRIVE  
<*>  
<*>  
<*>  
<*>  
<*>  
Drive: DISABLED  
PWM Frequency: 16 kHz  
Feedback Resolution: 8ØØØ  
Drive Temperature: 35C  
Bus Voltage: 85V  
See Also  
DMTR, DPWM, ERES, TDTEMP, TMTEMP, TREV, TVBUS  
The STATUScommand provides full-text report of the current drive status. It  
includes general features such as the OS Revision and Control power mode.  
Control power mode is active when TVBUS is less than 85 VDC. Additionally,  
it includes motor parameters and drive status.  
TANI  
Type  
Transfer Analog Input Voltage  
Transfer  
<a_>TANI  
Volts  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
-1ØV to +1ØV  
N/A  
Range  
Default  
Response  
See Also  
TANI:  
<*>-4.34  
ANICDB, CMDDIR, DCMDZ, DMTSCL, IANI  
The TANIcommand returns the voltage level present at the ANI analog  
input. The value reported with the TANIcommand is measured in volts.  
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TCI  
Transfer Commanded Current  
Transfer  
<a_>TCI  
Amps  
Type  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
N/A  
Range  
Default  
Response  
See Also  
N/A  
TCI:  
<*>5.ØØ  
DMTIC, DMTICD, DMTIP, TDICNT, TDIMAX  
The TCIcommand reports the commanded motor current in amps (peak of  
sine).  
TDHRS  
Type  
Transfer Operating Hours  
Transfer  
Product  
Rev  
<a_>TDHRS  
Syntax  
Units  
Aries  
1.0  
Lifetime operating hours  
(resolution is hours)  
Hour counter rolls over at 536854528 hours  
N/A  
Range  
Default  
TDHRS:  
<*>16  
Response  
See Also  
RESET, TERRLG  
The TDHRScommand reports the lifetime number of hours that the Aries  
drive has had power applied (AC mains or Control power).  
TDICNT  
Type  
Transfer Continuous Current Rating  
Transfer  
Product  
Rev  
<a_>TDICNT  
Amps rms  
Syntax  
Aries  
1.0  
Units  
Drive Dependant  
N/A  
Range  
Default  
Response  
See Also  
TDICNT: <*>1Ø  
DMTIC, DMTICD, DMTIP, TCI, TDIMAX  
The TDICNTcommand reports the continuous current rating of the drive in  
amps rms.  
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TDIMAX  
Type  
Transfer Maximum Current Rating  
Transfer  
<a_>TDIMAX  
Amps rms  
N/A  
Product  
Rev  
Syntax  
Aries  
1.0  
Units  
Range  
N/A  
Default  
Response  
See Also  
TDIMAX: <*>1Ø  
DMTIC, DMTICD, DMTIP, TCI, TDICNT  
The TDIMAXcommand reports the maximum current rating of the drive in  
amps rms.  
TDMIN  
Type  
Transfer Operating Minutes  
Transfer  
<a_>TDMIN  
Minutes  
Ø to 59  
N/A  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
Range  
Default  
Response  
See Also  
TDMIN:  
<*>35  
TDHRS, TDSEC, TERRLG  
The TDMINcommand reports the minutes portion of the lifetime operating  
hours that the Aries drive has had power applied (AC Mains or Control  
power).  
TDSEC  
Type  
Transfer Operating Milliseconds  
Transfer  
<a_>TDSEC  
Milliseconds  
Ø to 59999  
N/A  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
Range  
Default  
Response  
See Also  
TDSEC:  
<*>35678  
TDHRS, TDMIN  
The TDSECcommand reports the milliseconds portion of the lifetime  
operating hours that the Aries drive has had power applied (AC Mains or  
Control power).  
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TDTEMP  
Type  
Transfer Drive Temperature  
Transfer  
Product  
Rev  
<a_>TDTEMP  
Degrees Celsius  
N/A  
Syntax  
Aries  
1.0  
Units  
Range  
N/A  
Default  
Response  
See Also  
TDTEMP: <*>5Ø  
STATUS, TERRLG  
The TDTEMPreports the measured temperature (internal) of the drive.  
TERRLG  
Type  
Transfer Error Log  
Transfer  
Product  
Rev  
<a_>TERRLG  
Syntax  
Aries  
1.0  
N/A  
Units  
N/A  
Range  
N/A  
Default  
Response  
TERRLG: <*>Operating hours: 1Ø5.25  
<*>Power on Time: 5hrs 1Ø min 45.35 s  
<*>Drive Temp: 35C  
<*>Motor Temp: 85C  
<*>Bus voltage: 163V  
<*>Command Voltage: 5.35V  
<*>Active Errors: E26-Drive Faulted  
E27-Bridge Hardware Fault  
<*>[Power Cycle]  
See Also  
CERRLG, CONFIG, ERROR, ERRORL, OHALL, TANI,  
TDHRS, TDMIN, TDSEC, TDTEMP, TMTEMP, TVBUS  
The error log is updated every time an error occurs or the power is cycled.  
The TERRLGcommand displays the last ten error conditions or power cycles.  
The command displays them in order of earliest to latest, and returns a text-  
based status report. When each error is logged, the following parameters are  
saved:  
•
•
•
•
•
•
•
Operating Hours (TDHRS, TDMIN, TDSEC)  
Power-on Time  
Drive Temperature (TDTEMP)  
Motor Temperature (TMTEMP)  
Bus Voltage (TVBUS)  
Command Voltage (TANI)  
Active Errors (ERROR)  
The CERRLGcommand erases the stored contents of the error log. Clearing  
the error log is a helpful diagnostic tool; it allows you to start the diagnostic  
process when the error log is in a known state so that you can check the  
error log in response to subsequent events.  
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THALL  
Type  
Transfer Hall Sensor Values  
Transfer  
<a_>THALL  
N/A  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
1 to 6 (Ø or 7 is a fault condition)  
N/A  
Range  
Default  
Response  
See Also  
THALL:  
<*>6  
ALIGN, SHALL  
Encoder Motors: The THALLcommand reports the present Hall sensor  
value. There are six distinct Hall states, from 1 to 6. Rotating the motor shaft  
clockwise, the Hall state order should be 6, 2, 3, 1, 5, 4, 6, 2, 3, 1, 5, 4, 6…  
THALLvalues Øand 7are invalid and will fault the drive, and report E37–Bad  
Hall State.  
For a complete description on how to troubleshoot Hall sensors, especially  
for non-Parker Hannifin motors, see Hall Sensor  
Configuration/Troubleshooting on page 164.  
Note: For auto-configured “smart encoders”, the THALLonly reports the  
initial hall state of the encoder when power is applied.  
TIDAC  
Type  
Transfer D Quadrature Current  
Transfer  
<a_>TCI  
Amps  
Product  
Rev  
Syntax  
Units  
Aries  
3.10  
N/A  
Range  
N/A  
Default  
Response  
See Also  
TCI:  
<*>5.ØØ  
DMTIC, DMTICD, DMTIP, TDICNT, TDIMAX  
The TIDACcommand reports the actual “d” quadrature motor current in  
amps (peak of sine).  
TIQAC  
Type  
Transfer Q Quadrature Current  
Transfer  
<a_>TCI  
Amps  
Product  
Rev  
Syntax  
Units  
Aries  
3.10  
N/A  
Range  
N/A  
Default  
Response  
See Also  
TCI:  
<*>5.ØØ  
DMTIC, DMTICD, DMTIP, TDICNT, TDIMAX  
The TIQACcommand reports the actual “q” quadrature motor current in  
amps (peak of sine).  
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TMTEMP  
Type  
Transfer Motor Temperature  
Transfer  
Product  
Rev  
<a_>TMTEMP  
Degrees Celsius  
N/A  
Syntax  
Aries  
1.0  
Units  
Range  
N/A  
Default  
TMTEMP: <*>45  
Response  
See Also  
DMTRWC, DMTTCM, DMTTCW, STATUS, TERRLG  
The TMTEMPreports the predicted temperature of the motor winding for  
Parker motors. The temperature is estimated using the winding and motor  
time constants, the rated continuous current, and the winding thermal  
resistance. The motor will fault (and the drive reports E35–Motor Thermal  
Model Fault)at an estimated winding temperature of 125°C, assuming  
the ambient temperature is 40°C.  
In OS 2.10, If DMTSWTequals 3, and the thermal temperature is greater than  
60°C, TMTEMPreports the higher of the motor model thermistor temperature  
or the NTC thermistor temperature.  
If you are using a non-Parker motor, the TMTEMPvalue depends on  
parameters you supply for DMTRWC, DMTTCMand DMTTCW.  
TOUT  
Type  
Transfer Output Status  
Transfer  
Product  
Rev  
<a_>TOUT  
Syntax  
Units  
Aries  
1.0  
N/A  
Ø (inactive) or 1 (active)  
N/A  
Range  
Default  
Response  
See Also  
TOUT:  
none  
<*>ØØØØ_ØØØØ_ØØØØ_ØØ11  
The TOUTcommand returns the present status of the brake relay (bit 1) and  
fault output (bit 0). Bits 2 through 15 are reserved. The return of one (1)  
indicates the relevant output is active and a zero (Ø) indicates it is inactive.  
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TPC  
Transfer Position Commanded  
Transfer  
Type  
Product  
Rev  
<a_>TPC  
Syntax  
Units  
Aries  
2.0  
Encoder counts  
-2147483648 to +2147483647  
N/A  
Range  
Default  
Response  
See Also  
TPC:  
<*> Ø  
ERES, TPE, SMPER  
This command is only valid in DMODE4(velocity mode) and DMODE6or 7  
(position mode). This command allows you to display the commanded  
position.  
Note: The reported value is measured in commanded counts (AKA: “motor  
counts”).  
TPE  
Transfer Position of Encoder  
Transfer  
Type  
Product  
Rev  
<a_>TPE  
Syntax  
Units  
Aries  
1.0  
Encoder counts  
-2147483648 to +2147483647  
N/A  
Range  
Default  
Response  
See Also  
TPE:  
<*> Ø  
ERES, TPC, SMPER  
The TPEcommand reports the present feedback device position, based on  
the encoder resolution (ERES).  
TPER  
Type  
Transfer Position Error of Encoder  
Transfer  
Product  
Rev  
<a_>TPER  
Syntax  
Units  
Aries  
2.0  
Encoder counts  
-2147483648 to +2147483647  
N/A  
Range  
Default  
Response  
See Also  
TPER:  
<*> Ø  
ERES, INPOSDB, TPE, SMPER  
This command is only valid in DMODE6or 7(position mode).The TPER  
command reports the present position error. The error is reported in  
feedback device counts and is based on the encoder resolution (ERES). The  
position error is calculated every 62.5 µs.  
Note: When the drive is set to DMODE6or DMODE7, the position error is the  
difference between the commanded position and the actual position read by  
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the feedback device. TPERdoes not apply in DMODE2(torque/force control  
mode) and in DMODE4(velocity control mode); TPERreports zero in these  
modes.  
TREV  
Type  
Transfer Revision Level  
Transfer  
<a_>TREV  
N/A  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
N/A  
Range  
N/A  
Default  
Response  
See Also  
TREV:  
<*>Aries OS Revision 1.Ø  
RESET, RFS, STATUS  
The Transfer Revision Level (TREV) command reports the software revision  
of the Aries firmware.  
The Aries Resolver option reflects the Resolver feedback capability by  
stating ‘Aries Resolver’ in the software revision reportback instead of ‘Aries’.  
Updating the drive’s operating system: The operating system file is  
located in the “Support & Downloads” section on the Parker Hannifin Motion  
Online website (www.parkermotion.com).  
TSSPD  
Type  
Transfer PWM Update Period  
Transfer  
<a_>TSSPD  
Microseconds  
N/A  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
Range  
N/A  
Default  
Response  
See Also  
TSSPD:  
<*>62.5Ø  
DPWM  
The TSSPDcommand reports the current PWM update period in  
microseconds. This is not the current loop update rate, which is fixed at 62.5  
μs.  
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TTRQ  
Type  
Transfer Commanded Torque/Force  
Transfer  
Product  
Rev  
<a_>TTRQ  
Syntax  
Units  
Aries  
1.0  
Newton Meters (Rotary) or Newtons (Linear)  
-DMTLIM TO +DMTLIM ± Ø.Ø1  
N/A  
Range  
Default  
Response  
See Also  
TTRQ:  
<*>1.2Ø  
DMODE, DMTLIM, DMTSCL, TTRQA  
The TTRQcommand reports the commanded motor torque/force.  
TTRQA  
Type  
Transfer Actual Torque/Force  
Transfer  
Product  
Rev  
<a_>TTRQA  
Syntax  
Units  
Aries  
1.0  
Newton Meters (Rotary) or Newtons (Linear)  
Rotary motor: Ø.Ø to 5ØØ.Ø (motor/drive dependent):  
±Ø.1  
Range  
Linear motor: DMEPIT (electrical pitch) dependent  
N/A  
Default  
TTRQA:  
<*>1.2Ø  
Response  
See Also  
DMTKE, DMTLIM, DMTSCL, TTRQ  
The TTRQAcommand reports the calculated torque/force, based on the  
motor’s current and the motor’s Ke. The measured motor’s Ke value may  
vary by ±10%; Therefore, the TTRQAmay vary by ±10% of the actual torque  
at the motor.  
TVBUS  
Type  
Transfer Bus Voltage  
Transfer  
<a_>TVBUS  
Volts  
Product  
Rev  
Syntax  
Units  
Aries  
1.0  
N/A  
Range  
N/A  
Default  
Response  
See Also  
<*>17Ø.45  
ERROR, STATUS  
The TVBUScommand reports the DC bus voltage available from the drive in  
Volts.  
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TVEL  
Type  
Transfer Current Commanded Velocity  
Transfer  
Product  
Rev  
<a_>TVEL  
Syntax  
Units  
Aries  
2.0  
Revolutions per second or meters per second  
N/A  
N/A  
Range  
Default  
Response  
See Also  
TVEL:  
<*> 1.55  
CMDDIR, DMEPIT, DMVLIM, IANI, TVELA  
This command is only valid in DMODE4(velocity mode) and DMODE6or 7  
(position mode).  
In velocity mode (DMODE4), TVELreports the commanded ±10V value from  
the user before any internal limits are checked.  
In position mode (DMODE6-7), TVELreports the internal velocity command  
and is limited by DMVLIM.  
TVELA  
Type  
Transfer Current Actual Velocity  
Transfer  
Product  
Rev  
<a_>TVELA  
Syntax  
Units  
Aries  
1.0  
Revolutions per second or meters per second  
N/A  
Range  
N/A  
Default  
Response  
See Also  
TVELA: <*> 1.55  
CMDDIR, DMEPIT, DMVLIM, IANI  
The TVELAcommand reports the velocity as derived from the feedback  
device. The sign determines the direction of motion.  
Rotary Motors—Positive values represent  
clockwise motion and negative values represent  
counter-clockwise motion (assuming CMDDIR = Ø,  
and that you connected the feedback device  
according to instructions provided in “Chapter 2  
Figure 48 Clockwise/  
Mechanical Installation” and “Chapter 3 Electrical  
Counter-clockwise rotation  
Installation”).  
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TVER  
Type  
Transfer Current Commanded Velocity Error  
Transfer  
Product  
Rev  
<a_>TVER  
Syntax  
Units  
Aries  
2.0  
Revolutions per second or meters per second  
N/A  
N/A  
Range  
Default  
Response  
See Also  
TVER:  
<*> 1.55  
DMEPIT, DMVLIM, TVELA, TVEL  
This command is only valid in DMODE4(velocity mode) and DMODE6or  
DMODE7(position mode).  
In velocity mode (DMODE4), TVELreports the commanded ±10V value from  
the user before any internal limits are checked.  
In position mode (DMODE6-7), TVELreports the internal velocity command  
and is limited by DMVLIM.  
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Chapter 7 Troubleshooting  
CHAPTER SEVEN  
Troubleshooting  
IN THIS CHAPTER  
Troubleshooting Guidelines.....................................................................157  
LEDs ........................................................................................................158  
RS-232/485 Communication Problems ...................................................159  
Smart Encoders.......................................................................................163  
Hall Sensor Configuration/Troubleshooting.............................................164  
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Troubleshooting Guidelines  
If your system is not functioning properly, try the following steps.  
First Troubleshooting Steps (verify LEDs)  
•
Is the Right LED illuminated?  
If not, look for problems with AC power. Check the AC power source.  
Also check connections at the L1, L2, and terminals of the motor  
mains connector, and at the C1 and C2 terminals of the control mains  
connector).  
•
Is the Right LED illuminated red?  
Try to enable the drive by connecting ±5–24 VDC to pin 1 (+), and  
common (GND) to pin 21 (–) of the DRIVE I/O connector. The right LED  
should turn green.  
•
Cycle power to the drive (this clears most faults). As the drive  
powers up, watch the right LED.  
Does the LED color change from off to red? Power is reaching the drive,  
but the drive is not enabling.  
Does the LED change from off to green? The drive is powered up and  
enabled—power is not a problem.  
•
Remove all connections to the drive (DRIVE I/O, MOTOR, MOTOR  
FEEDBACK, and R+/R–), leaving Mains power (L1, L2, and  
terminals) connected. Apply power to the drive.  
Does the Right LED change from off to red? Then a short exists in the  
disconnected cables.  
•
Check Mains wiring and feedback connections.  
If these steps do not solve your problem, follow the general troubleshooting  
procedure outlined below.  
General Troubleshooting Procedure  
•
•
•
•
Check the LEDs (see “LEDs⎯Drive Status Indicators” on page 158)  
Launch the Aries Support Tool  
Verify the RS-232/485 communications are functioning correctly.  
In the Aries Support Tool, look to the Status Panel to identify  
problems with the drive.  
•
Check for non-Drive problems (problems with other parts of the  
system)  
Detailed procedures for each of these topics are given in the rest of this  
chapter.  
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LEDs⎯Drive Status Indicators  
The drive has two bi-color LEDs. The LED on the left displays yellow or  
green colors; The LED on the right displays red or green colors. The  
following tables describe LED illumination states and the conditions they  
indicate.  
Normal Operation  
LED–Left  
LED–Right  
Green  
What it means  
Off  
Power on, enabled  
Yellow  
Green  
Power on, regeneration active  
Power on, disabled–No Fault  
Power on, boot process  
Waiting for OS download  
OS download in process  
Off  
Red  
Yellow  
Off  
Off  
Red (flashing)  
Red (flashing)  
Yellow (flashing)  
Table 22 LED Status Indicator-Normal Operation  
Internal Drive Faults  
LED–Left  
LED–Right  
What it means  
Yellows  
Red  
Control power  
mode active  
Yellow & 1 Green (flashing)  
Yellow & 2 Green (flashing)  
Yellow & 3 Green (flashing)  
Yellow & 4 Green (flashing)  
Yellow & 5 Green (flashing)  
Red  
Red  
Red  
Red  
Red  
Bridge Fault  
Feedback Fault  
Thermal Fault  
Other Fault  
Encoder Loss  
Table 23 LED Status Indicator-Internal Drive Fault  
Establish Communications & Verify Drive  
Configuration  
If you cannot enable the drive, and examining LED conditions has not solved  
your problem, then launch the Aries Support Tool and establish  
communications with the drive. (For detailed instructions on establishing  
communications, see “Establishing Communications” on page 74.)  
If you are unable to establish communications, see “RS-232/485  
Communication Problems“ on page 159.  
Save the Configuration File  
Because further troubleshooting steps can change the drive configuration,  
upload the current drive configuration file, and save it to your personal  
computer. This ensures you have a backup copy of the drive configuration.  
To save a backup configuration file, use the Aries Support Tool.  
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Reconfigure the Drive  
To verify proper configuration, you may wish to reconfigure the drive. Pay  
particular attention to selecting proper configuration settings for the motor  
that you have installed, as motor configuration problems can cause a variety  
of errors. Download the new configuration to the drive; the changes take  
effect after you send the RESETcommand or cycle power.  
RS-232/485 Communication Problems  
If you cannot establish RS-232 or RS-485 communications, the next sections  
give instructions for procedures to help isolate problems.  
RS-232  
RS-485 *  
Rx, Tx, Gnd  
2-wire plus ground  
(Talk+, Talk–, Gnd)  
9600 baud  
8 data bits  
1 stop bit  
No parity  
9600 baud  
8 data bits  
1 stop bit  
No parity  
Full-duplex  
Half-duplex  
* Twisted pair cabling recommended  
(e.g. Belden 9842)  
Table 48 Terminal Emulator Configuration for RS-232/485 Communication  
Ensure the RS-232 or RS-485 wiring is connected prior to powering up the  
Aries drive. When applying power, the drive will detect either RS-232 or RS-  
485 and configure accordingly.  
Testing the COM Port  
Using the Aries Support Tool, you can test COM port connections.  
►
Under Communications, select the COM port and then click Test.  
RS-232 communications might require that you use a null modem cable.  
For information about connecting to the COM port, see “Establishing  
Communications” on page 74. Additionally, refer to the pinout diagram  
for the RS-232/485 connector, also located on page 74.  
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Error  
Resolution  
Invalid COM port number  
Select a different COM port  
Unable to open COM port No COM port has been specified, or the  
COM port is being used by other software.  
Select a different COM port.  
No response from Aries  
drive  
Power is not supplied to the drive, the drive  
is not powered up, the power connection is  
mis-wired, or the RS-232/485 cable is mis-  
wired.  
Check the drive to verify that the power  
supply is connected, wired correctly. Then  
apply power to the drive. Verify the wiring on  
the RS-232/485 cable.  
Incorrect response from  
Aries drive  
A different drive or serial device might be  
connected to the selected COM port.  
Verify that an Aries drive is connected to the  
selected COM port.  
OS needs to be  
downloaded  
Download the operating system to the Aries  
drive.  
Cycle power and  
download OS  
The Aries drive has encountered an error  
while downloading an operating system.  
Cycle power to the drive and download the  
operating system again.  
Table 49 Communications Port Errors and Resolutions  
Error Messages  
If the drive will not enable, you can view full-text reports of the drive  
configuration (EØ through E24) and drive errors (E25 through E46). In a  
terminal emulator, type CONFIGor ERROR, depending which information you  
want to view.  
You can also view the errors using the Aries Support Tool software.  
►
In the Menu, select Status Panel. You can view the errors under Bit  
Status.  
The following is a list of Error messages and a brief corrective action:  
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Error  
Resolution  
EØ—Motor Configuration  
Warning  
The motor rating is too high for the drive, and the  
drive is using its own limits for safety reasons.  
E1—Motor Configuration Error  
One of the motor parameters is set to zero (0).  
Look at the additional errors to find which  
parameters are set at zero (0). Refer to your  
motor specifications for the correct value.  
E3—Max Inductance = Ø  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero (0) value. Refer to  
your motor specifications for the correct value.  
(DMTIND)  
E4—Rated Speed = Ø  
E5—DPOLE = Ø  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DPOLE)  
E6—Resistance = Ø  
E7—Ke = Ø  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTRES)  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMKE)  
E8—Continuous Current = Ø  
E9—Peak Current = Ø  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTIC)  
This parameter is set to zero (0). To correct the  
error, you must set a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTIP)  
E1Ø—Continuous Current Too  
High  
The continuous current of the motor is higher than  
the continuous current rating of the drive. Use the  
continuous current rating for the drive.  
E11—Torque Rating Too High  
for Drive  
The motor’s torque rating is too high for the power  
level of the drive. Use the drive’s torque rating.  
E12—Peak Current Too High  
The peak current of the motor is higher than the  
peak current rating of the drive. Use the drive’s  
value for peak current.  
E13 - Inertia = Ø  
This parameter is set to zero (0). The drive will not  
enable Velocity or Position Modes. To correct the  
error, you must set to a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTJ)  
E14 – Damping = Ø  
This parameter is set to zero (0). The drive will not  
enable Velocity or Position Modes. To correct the  
error, you must set to a non-zero value. Refer to  
your motor specifications for the correct value.  
(DMTD)  
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Error  
Resolution  
E15 – Notch filter Calc  
Error.  
The notch filter settings caused an internal  
calculation error. The last valid value was used.  
Try different values for the notch filter parameters.  
(DNOTAF, DNOTAQ, DNOTBF, DNOTBQ)  
E16 – Lead < Lag Freq  
E17 – Lead ≥ 4* Lag Freq  
E18 – Lag Freq < 2Ø Hz  
E19–E24  
The lead filter setting (DNOTLD) must be greater  
than or equal to the lag filter setting. (DNOTLG)  
The lead filter setting (DNOTLD) must be less than  
or equal to 4 times the lag filter setting. (DNOTLG)  
The lag filter setting (DNOTLG) must be greater  
than or equal to 20 Hz.  
RESERVED  
E25—Excessive Command  
Voltage at Enable  
The command voltage (at the ANI+ terminal) was  
too high when the drive was enabled. Lower the  
voltage at the ANI+ terminal. Try using the fault on  
startup voltage. (FLTSTP)  
E26—Drive Faulted  
The drive is faulted.  
E27—Bridge Hardware Fault  
E28-Bridge Temperature Fault  
Excessive current or short on the H-bridge.  
Excessive current being commanded:  
1. If the application is operating in the peak range,  
limiting the peak current setting with DMTLIM can  
limit the current commanded and lower the bridge  
temperature. Default DMTLIM is 3 x continuous  
current, perhaps lowering it to 2.5 x continuous  
current or 2 x continuous current can help. This,  
however, will limit the motor’s available torque,  
which may increase position error and possibly  
cause a position error fault.  
2. Issue a DIFOLD 1 command. This command  
enables the “current foldback” feature in the drive.  
However, a drive in “foldback” mode can limit the  
motor’s available torque, which may increase  
position error and possibly cause a position error  
fault.  
3. Use a larger Aries amplifier, which would be  
capable of higher current outputs.  
E29—Drive Over-voltage  
E3Ø—Drive Under-voltage  
E31—Bridge Foldback  
The bus voltage is too high (>410 VDC). Lower  
the AC Mains voltage and check for excessive  
regeneration power. (TVBUS)  
The bus voltage is too low (<85 VDC) or there is  
overly aggressive acceleration or deceleration.  
Raise the AC Mains voltage. (TVBUS)  
Drive current was limited to prevent overheating  
(warning only). See DIFOLD.  
E32—Power Regeneration Fault  
E34—Drive Temperature Fault  
Check the Regeneration resistor for a short.  
Wait for the drive to cool down. (TDTEMP)  
E35—Motor Thermal Model  
Fault  
The motor thermal model has determined the  
motor is too hot. Wait for the motor to cool, and  
then re-enable the drive. (TMTEMP)  
E36—Motor Temperature Fault  
Motor thermal switch has tripped. Wait for the  
motor to cool, and then re-enable the drive.  
(TMTEMP)  
E37—Bad Hall State  
A problem with the Hall sensors exists. Check the  
Hall state wiring. (THALL)  
E38-Feedback Failure  
Feedback not present or the signal level is  
incorrect. (TPE, THALL)  
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Error  
Resolution  
E39—Drive Disabled  
The drive is disabled. (DRIVE)  
E4Ø—PWM Not Active  
The H-bridge is not switching.  
E41—Power Regeneration  
Warning  
The drive regenerated (warning only).  
E42-Shaft Power Limited  
Warning  
Shaft power is limited to the rated output to protect  
the drive (warning only).  
E43-Excessive Speed at  
Enable  
The motor was turning too fast when the drive was  
enabled.  
E44-Excessive Position Error  
E45-Excessive Velocity Error  
E46-Hardware Enable  
Commanded position. Actual Position is greater  
than the value set by SMPER.  
Commanded velocity. Actual Velocity is greater  
than the value set by SMVER.  
0 = Hardware Enable (Drive I/O Pin 1 and 21)  
1 = No Hardware Enable  
E47-Low Voltage Enable  
E48-Control Power Active  
E49-Alignment Error  
No motor power was present when the drive was  
enabled.  
The drive is in Control power mode. No motor  
power is present.  
The ALIGNcommand did not complete  
successfully. (TPE, THALL)  
E50-Flash Error  
A problem writing to non-volatile memory exists.  
(RFS).  
E51-Resolver Error  
A problem determining the correct resolver angle  
exists. Applies to Arxx-xR models only. Check the  
resolver feedback wiring.  
E52-Encoder Loss Fault  
The drive determined there was loss of feedback.  
Check the feedback wiring. (TPE, THALL)  
Table 50 Error Messages  
Smart Encoders  
Several drive related parameters may need additional configuration: CMDDIR,  
DCMDZ, and ADDR.  
If the Aries drive does not initialize correctly when connected to a Smart  
Encoder (Parker motors only) , check the following:  
1. Verify the motor phases are wired correctly. Incorrectly wired motor  
phases can produce any combination of the following symptoms in the  
motor: runs backwards; produces low torque, or gets warm.  
2. Check that the feedback cables are wired correctly.  
3. Apply power to the Aries drive.  
a. Send the SFB command. It should report 5. If the response is not  
<*>5, then check the feedback cable (if using a non-Parker cable,  
check that it is correctly wired). If the cable is correctly wired and  
connected, the problem might be the encoder.  
b. Send the THALL command. It should report a number in the range  
of 1-6, which indicates the phase wires are connected correctly. If  
the response is Øor 7, a fault exists. Check the motor phase wiring  
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c. Send the TPE command and turn the motor shaft. Verify the  
encoder is counting in the correct direction. Turning the shaft  
clockwise results in positive encoder counts. If not, check the  
encoder feedback wires and reset the drive.  
Note: The CMDDIRis fixed for smart encoders. To invert the direction, use  
IANI1; however, for the ACR9000 do not use IANI1.  
Hall Sensor Configuration/Troubleshooting  
This section can help resolve a “Bad Hall State” error. Use the  
Troubleshooting Checklist (below) to determine the cause of the error.  
This section will assist you in resolving a Hall fault (ERRORbit E37-Bad  
Hall State). Several problems can cause a Hall fault. The following list will  
help identify these problems.  
Troubleshooting Checklist  
1. Does THALLreport either 0 or 7?  
If yes, see Problem 1 or 2, below.  
2. Does THALLchange if you move the motor by hand?  
If no, see Problem 2, below.  
3. Does THALLhave six distinct Hall states from 1 to 6? (No numerical  
order is necessary.)  
If no, see Problem 2, below.  
4. Does THALLreport the six distinct Hall states n times as the rotor turns  
one revolution, where n is equal to the number of pole-pairs (DPOLE)?  
(Linear motors: n = pitch)  
If no, see Problem 2 or 3, below.  
5. Does THALLreport the Hall state sequence [1, 5, 4, 6, 2, 3, 1...] as the  
motor turns clockwise? (Clockwise means TPEis increasing when  
CMDDIRset to zero (0); it is also the direction the motor turns in  
DMODE1.)  
If no, see Problem 4, below.  
6. Does ERRORreport a Hall fault each time the drive is enabled (DRIVE1),  
even though the Hall state sequence is correct?  
If yes, see Problem 4, below.  
7. Does the Hall fault occur irregularly?  
If yes, see Problem 5 or 6 below.  
Possible Problems  
1. No Hall states are seen by the drive.  
2. The cable is not connected, or is connected incorrectly (mis-wired).  
3. DPOLEor DMEPITis not set correctly.  
4. Either the motor wires or the Hall wires are connected incorrectly.  
Use Procedure 1 to fix this problem by changing the motor wires.  
Use Procedure 2 to fix this problem by changing the Hall wires.  
5. The Hall wires or the encoder wires may have loose connections,  
causing intermittent faults.  
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6. Noise induced on the Hall signals from routing the motor feedback cable  
next to high-voltage cables (for example, strapped to motor power  
cables).  
Procedure 1  
Use this procedure to connect your motor wires to the Aries.  
1. With the motor’s feedback cable connected to the Aries drive, randomly  
connect two motor power wires and slowly apply a positive voltage with  
respect to the third.  
Note: A variable low voltage (5 to 24V) current limiting (less than  
continuous current rating of motor) power supply is preferred.  
Warning — This procedure could damage the motor. Slowly increase the  
voltage until the motor moves. Do not exceed the rated current.  
Safety Warning — High-performance motion control equipment is capable  
of producing rapid movement and very high forces. Unexpected motion may  
occur especially during the development of controller programs. KEEP WELL  
CLEAR of any machinery driven by stepper or servo motors. Never touch  
any part of the equipment while it is in operation.  
2. If THALLreports a 1,, 2, or 4, change SHALLfrom either 0 to 1 or from 1  
to 0. After you change SHALL, reset the drive.  
3. Repeat step 1 until THALLreports a value of 6.  
4. The wire on the negative voltage or ground is motor wire W. The two  
wires at the positive voltage are U and V.  
Now there are two possibilities:  
a. Connect the motor wires to the terminals. Operate the drive in  
DMODE1. If the motor does not turn in the clockwise direction,  
exchange motor wires U and V. Verify that the CMDDIRcommand  
is set to zero (0).  
b. Put positive voltage on motor wire W together with either U or V  
and put negative voltage or ground on the remaining wire. If THALL  
reports a value of 3, the wire at the negative voltage is V. If THALL  
reports a value of 5, the wire at the negative voltage is U.  
Figure 49 Hall Connection Diagram  
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Procedure 2  
Use this procedure to connect your Hall wires to the Aries.  
1. First operate the drive in DMODE1and verify that the motor turns  
clockwise. If not, swap any two motor wires.  
2. Remove the motor power leads, leaving the feedback cable connected  
to the Aries drive. Connect motor power wires U and V and slowly apply  
a positive voltage with respect to W.  
Note: A variable low voltage (5-24V) current limiting (less than  
continuous current rating of motor) power supply is preferred.  
Warning — This procedure could damage the motor. Slowly increase the  
voltage until the motor moves. Do not exceed the rated current.  
Safety Warning — High-performance motion control equipment is capable  
of producing rapid movement and very high forces. Unexpected motion may  
occur especially during the development of controller programs. KEEP WELL  
CLEAR of any machinery driven by stepper or servo motors. Never touch  
any part of the equipment while it is in operation.  
3. If THALLreports a value of 1, 2 or 4, change SHALLfrom either 0 to 1 or  
from 1 to 0. After you change SHALL, reset the drive.  
4. Change the Hall wires until THALLreports a value of 6.  
5. Connect motor wires U and W and slowly apply a positive voltage with  
respect to V.  
6. If THALLdoes not report a value of 3, change Hall wires B and C.  
If THALLreports a value of 3, the wires are connected correctly.  
Table 51 summarizes phase voltages and their corresponding Hall states.  
Starting with SHALLØand the phase voltages as shown, the THALL  
command should report the Hall states that match the “Correct” column. If  
instead THALLreports Hall states that match the “Use SHALL1” column,  
enter SHALL1and reset the drive. The Hall states should now match the  
“Correct” column. For more information, see Figure 50.  
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Phase  
V
Hall State  
Correct  
Use SHALL1  
U
W
–
–
–
+
+
+
–
+
+
+
–
–
+
+
–
–
–
+
1
5
4
6
2
3
6
2
3
1
5
4
Table 51 Configuring Hall Sensors  
Figure 50 illustrates the alignment of phases U, V, and W with Halls 1, 2, and  
3 as viewed from the front of the shaft. The illustration assumes the following:  
•
•
•
•
Hall signals that are High equal TRUE signals.  
Hall 1 is the least significant bit (LSB).  
Hall 3 is the most significant bit (MSB).  
There is one hall cycle and one electrical cycle per pole pair on the  
motor.  
Figure 50 Motor Terminal Voltages (back EMF) and Hall Sensor Signals  
Chapter 7 Troubleshooting 167  
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Appendix A Additional Specifications  
APPENDIX A  
Additional  
Specifications  
IN THIS CHAPTER  
Amplifier...................................................................................................169  
Feedback.................................................................................................169  
Protective Circuits....................................................................................170  
Cables......................................................................................................173  
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Amplifier  
Control Power: all models....................120/240 VAC Single Phase  
Mains Control Power  
AR-01xx, AR-02xx, AR-04xx,  
AR-08xx, and AR-13xx ...........................Single Phase AC Input,  
120/240 VAC  
16 or 32 kHz switching frequency  
(motor dependant), pulse-width  
modulated (PWM) with 3-phase  
motor output  
Current Loop Update Rate......................62.5 μs  
Velocity and Position Loop......................250 μs  
AR-20xE and AR-30xE ...........................Single or Three Phase AC Input  
(AR-30xE is three phase only)  
240 VAC  
16 kHz switching frequency,  
pulse-width modulated (PWM) with  
3-phase motor output  
Current Loop Update Rate......................62.5 μs  
Velocity and Position Loop......................250 μs  
Feedback  
Encoder...................................................Differential Quadrature Encoder  
Encoder Accuracy...................................±1 encoder count;  
encoder dependent  
Resolver..................................................Single Speed  
Resolver Accuracy..................................±11 arc minutes  
(12-bit A to D)  
Resolver Excitation .................................10 KHz  
Transformation Ratio ..............................0.5  
Maximum Pulse  
Input/Output Frequency ..........................5 MHz (5V TTL Only)  
Appendix A Additional Specifications 169  
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Protective Circuits  
Short Circuit Protection  
The Aries drive has an internal circuit that protects it from short circuits  
between one motor terminal to another (phase to phase), or from any motor  
terminal to earth.  
Short Circuit Fault—Cause .....................Phase-to-phase short circuit  
Phase-to-earth short circuit  
Results of Fault.......................................Power to motor is turned off  
Fault output is activated  
LED Left  
LED Right  
Yellow &  
1 Green (blinking)  
Red  
Table 52 LED Short Circuit Fault  
Resetting the fault  
To clear the latched fault, choose one of the following methods:  
►
►
Cycle power to the Aries drive.  
–or–  
Open the Aries Support Tool. Then select Operating System Update  
from the menu and click Reset Drive.  
Drive Over-Temperature Protection  
The Aries drive’s over-temperature circuit monitors the drive’s internal  
temperature. If the sensors exceed the threshold temperature, the drive  
issues an over-temperature fault.  
Threshold Temperature  
AR-01xx, AR-02xx, AR-04xx,  
AR-08xx, and AR-13xx ...........................80°C (176°F)  
AR-20xE and AR-30xE ...........................90°C (194°F)  
Results of Fault.......................................Power to motor is turned off  
Fault output is activated  
LED Left  
LED Right  
Yellow &  
3 Green (blinking)  
Red  
Table 53 LED Drive Over-Temperature Fault  
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Resetting the fault  
After the internal temperature has dropped below the values shown in Table  
54, you can clear the latched fault. There are two methods available:  
►
Cycle power to the Aries drive.  
–or–  
►
Open the Aries Support Tool. Then select Operating System Update  
from the menu and click Reset Drive.  
Model  
Reset Temperature  
AR-01xx, AR-02xx, AR-04xx,  
75°C (167°F)  
AR-08xx, and AR-13xx  
AR-20xE and AR-30xE  
85°C (185°F)  
Table 54 Reset Temperature Values  
Under-Voltage Protection  
The Aries drive’s under voltage protection circuit monitors AC input voltage. If  
the voltage falls below a specific value while the drive is operating, the drive  
issues an under-voltage fault and turns off power to the motor output  
terminals (MOTOR connector). This allows the motor to freewheel to a stop.  
Warning — When an under-voltage protection fault occurs, the drive  
disables power to its motor output terminals on the Motor connector. This  
cuts all control to the motor and allows the load to freewheel to a stop.  
Threshold Voltage  
AR-01xx, AR-02xx, AR-04xx,  
AR-08xx, and AR-13xx ...........................Voltage below 70 VAC trips fault  
AR-20xE and AR-30xE ...........................Voltage below 160 VAC trips fault  
Results of Fault.......................................Power to motor is turned off  
Fault output is activated  
LED Left  
LED Right  
Yellow  
Red  
Table 55 LED Under-Voltage Fault  
Resetting the fault  
To clear the latched fault, choose one of the following methods:  
►
►
Cycle power to the Aries drive.  
–or–  
Open the Aries Support Tool. Then select Operating System Update  
from the menu and click Reset Drive.  
Appendix A Additional Specifications 171  
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Over-Voltage Protection  
The Aries drive’s over-voltage circuit protects the drive from excessive  
regeneration. If the voltage on the motor output terminals rises above the  
threshold voltage, the drive issues an over-voltage fault and turns off power  
to the motor output terminals (Motor connector). This allows the motor to  
freewheel to a stop.  
Warning — When an over-voltage protection fault occurs, the drive disables  
power to its motor output terminals on the Motor connector. This cuts all  
control to the motor and allows the load to freewheel.  
Threshold Voltage  
All Models................................................410 VDC  
Results of Fault.......................................Power to motor is turned OFF  
Fault output is activated  
LED Left  
LED Right  
Yellow  
& 4 Green (blinking)  
Red  
Table 56 LED Over-Voltage Fault  
Resetting the fault  
To clear the latched fault, choose one of the following methods:  
►
►
Cycle power to the Aries drive.  
–or–  
Open the Aries Support Tool. Then select Operating System Update  
from the menu and click Reset Drive.  
Warning — Over-voltage protection monitors only the motor output terminals  
(DC motor bus). It does not protect against an over voltage on the AC input  
terminals, which can permanently damage the drive.  
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Current Foldback  
The Aries drive’s current foldback circuit helps to protect the drive from  
damage due to prolonged high currents.  
If your Drive is operating above its continuous current rating, see Figure 51 to  
predict the number of seconds until foldback will occur. For example, the  
figure shows that at the Aries drive’s peak current rating (250% of  
continuous), foldback will occur after six seconds. After operating at the  
drive’s peak current, the drive will reduce the drive current to 80% of the  
drive’s continuous rating for 60 seconds. This is to ensure the drive’s  
average continuous current rating is not exceeded.  
Figure 51 Time until current foldback occurs  
Cables  
EMC Ready Cables  
Many Parker cables are EMC installation ready. If installed according to  
instructions provided under “A Highly-Immune, Low-Emission Installation –  
Meeting the Requirements of the Electromagnetic Compatibility (EMC)  
Directive” on page 192, these cables are designed to aid the user in gaining  
European Compliance, and are thus an integral part of a CE system solution.  
EMC cables add RF screening and bonding to reduce emissions, increase  
immunity, and provide high integrity safety Earth bonding. They also help to  
reduce problems in high electrical noise environments.  
Non-EMC Cables  
Parker also offers non-EMC cables, for applications where CE compliance is  
not required, and where ambient electrical noise does not cause problems.  
Because these cables are either unshielded, or contain simple foil shielding  
terminated by a drain wire, they do not provide significant shielding of  
electrical noise at high frequencies.  
Appendix A Additional Specifications 173  
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Appendix B External Power-Dump Resistor Selection  
APPENDIX B  
External Power-Dump  
Resistor Selection  
IN THIS CHAPTER  
Simplified Resistor Selection...................................................................175  
Calculating Resistance—Rotary Motors..................................................177  
Resistor Specifications ............................................................................181  
Calculating Resistance—Linear Motors ..................................................183  
Resistor Specifications ............................................................................187  
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External Power-Dump Resistor Selection  
Deceleration generates excess kinetic and potential energy. You can remove  
the energy through regeneration—a process where the motor acts as  
generator. Regeneration allows you to transfer the excess energy from the  
motor and load back to the power supply.  
When the drive and assorted losses cannot remove all the stored kinetic  
energy, you must connect an external power-dump resistor. Connecting an  
external power-dump resistor to the Aries drive helps dissipate the excess  
kinetic and potential energy.  
While the Aries drive contains circuitry to control an external power dump  
resistor, resistor selection depends on the requirements of your particular  
application.  
There are two methods for selecting the appropriate external power-dump  
resistor:  
•
“Simplified Resistor Selection” provides quick recommendations for  
Parker drive and motor combinations.  
•
“Calculating Resistance—Rotary Motors” steps you through the  
relevant formulas to determine the needs of your particular  
application.  
Note: Both methods assume regeneration occurs during a trapezoidal move.  
Important — It is possible to overload an Aries drive or the combination of  
an Aries drive and power dump resistor.  
If at the end of the calculations you find the required resistor is less than  
allowed for your specific Aries model, or requires a watt rating greater than  
the rated resistors available, do not use the Aries drive in your application.  
Aries drive models AR-01xx, AR-02xx, AR-04xx, AR-08xx, and AR-13xx,  
require external resistance values of 22 Ohms or greater.  
Aries drive models AR-20xE and AR-30xE require external resistance values  
of 8 Ohms or greater  
Simplified Resistor Selection  
Many applications do not require a power-dump resistor because the drive  
can absorb or dissipate the regenerative deceleration energy. However, if a  
drive faults from over-voltage during a deceleration event, an external power  
dump resistor is probably required.  
Table 57 contains recommended power-dump resistors for specific Aries  
drive and Parker Hannifin motor combinations. The recommendations are  
based on the calculations presented in the section titled “Calculating  
Resistance—Rotary Motors”. These recommendations assume a worst-case  
load-to-rotor inertia ratio of 10 to 1, maximum duty cycle and maximum  
deceleration from maximum velocity for that specific motor/drive pairing.  
These are recommendations only—while not optimized for your particular  
application, they will work in most situations.  
Appendix B External Power-Dump Resistor Selection 175  
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Drive  
AC  
Voltage  
Motor  
Resistor  
Rating  
Resistor  
rating  
Isotek Part Number  
(Resistance  
—Ohms)  
(Continuous  
Power—  
Watts)  
120  
240  
SM162Z  
BE164B  
100  
100  
BRK-100R-10-L2, 4  
See note1  
AR-01xx  
SM162Z  
SM161A  
SM162A  
SM230A  
SM231A  
SM232A  
BE230D  
See note1  
See note1  
See note1  
120  
See note1  
AR-02xx  
AR-04xx  
AR-08xx  
47  
47  
200  
200  
BRM-47R0-10-L2, 4  
BRM-47R0-10-L2, 4  
See note1  
240  
240  
BE231D  
See note1  
SM233A  
BE232D  
47  
200  
BRM-47R0-10-L2, 4  
See note1  
BE233D  
See note1  
BE233F  
See note1  
BE230F  
See note1  
120  
240  
BE231F  
See note1  
BE232F  
See note1  
BE341F  
See note1  
BE342H  
See note1  
NO702F  
NO703F  
NO704F  
BE344L  
22  
22  
22  
22  
22  
22  
8
300  
BRQ-22R0-10-L2, 4  
BRQ-22R0-10-L2, 4  
BRQ-22R0-10-L2, 4  
BRQ-22R0-10-L2,3,4  
BRQ-22R0-10-L2,3,4  
BRQ-22R0-10-L2,3,4  
IRP20008R0J2, 4  
IRP30008R0J2, 4  
IRP30008R0J2, 4  
IRP60008R0J2, 4  
IRP60008R0J2, 4  
IRP60008R0J2, 4  
300  
300  
300  
AR-13xx  
AR-20xE  
AR-30xE  
240  
240  
240  
MPM1141ASG  
SMN1002S2F-KPN  
1141BSG  
1142BSG  
1421BSG  
1142ASG  
1143ASG  
1901BSG  
300  
300  
800  
8
1100  
1100  
1800  
1800  
1800  
8
8
8
8
1. External power dump resistor not needed. However, higher operating voltage, higher load to rotor inertia  
ratio, and higher duty cycles can increase the need.  
2. Higher friction loads, lower speeds, lower deceleration rates, lower load to rotor inertia ratio, and lower duty  
cycles can decrease the need for this resistor.  
3. Minimum resistance allowed for AR-13 is 22 Ohms, therefore the maximum deceleration rate and/or duty  
cycle may need to be reduced.  
4. Isotek resistor or equivalent  
Table 57 Simplified Selection of External Power-Dump Resistor  
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Calculating Resistance—Rotary Motors  
Because there are different types of motion profiles and application specific  
conditions, you may need to modify the results to suit your particular  
application. To keep it simple, the formulas assume a trapezoidal move  
profile, in which the deceleration event is a single constant deceleration to  
zero (0) velocity. For other motion profiles, you can modify the basic  
concepts presented below.  
Calculating the amount of energy to dissipate requires the motion profile  
parameters, and the motor, drive, and load information. While significantly  
more information is required, the calculations help tailor the size of power-  
dump resistor to your application.  
This is a multi-step process:  
1. Calculate the motor’s kinetic energy.  
2. Calculate the motor’s potential energy—vertical applications only.  
3. Calculate the energy that can be absorbed by the drive capacitors  
4. Calculate energy dissipated in the motor winding resistance  
5. Calculate energy dissipated in load  
6. Using the results from the previous four calculations, calculate the  
amount of energy to dissipate through an external power-dump resistor.  
With that result, you can then calculate the resistor necessary to dissipate  
the excess energy.  
Total Kinetic Energy  
A body in motion produces energy. To stop motion, that energy must be  
absorbed or dissipated elsewhere.  
That energy can be defined in terms of inertia and velocity.  
JM + JL  
ω 2  
)
1
2
EK =  
(
Where  
EK = rotational kinetic energy (Joules)  
JM = rotor inertia in kilogram meter squared (kg⋅m2)  
JL =  
load inertia in kilogram meter squared (kg⋅m2)  
ω =  
rotational speed in radians per sec (1 revolution/sec =  
2⋅π⋅radians/sec)  
Total Potential Energy  
A body at rest stores energy relative to the position of the body. When the  
body moves, the potential energy is released and translated into kinetic  
energy.  
For purely horizontal applications, potential energy is negligible and therefore  
not necessary for inclusion in your calculations. However, for vertical  
applications, potential energy can greatly affect the selection of power dump  
resistor. Regardless whether the incline is gentle or steep, it is important to  
calculate the potential energy that must be absorbed or dissipated  
elsewhere.  
Appendix B External Power-Dump Resistor Selection 177  
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Ep = mgh  
Where  
Ep = potential energy (Joules)  
m = mass of forcer and load (kg)  
g =  
gravitational constant (9.81 m/s2)  
h =  
vertical height change during deceleration (m)  
Energy Absorbed by Drive Capacitors  
The Aries drive’s capacitors can store energy. With motor deceleration, the  
drive capacitors absorb some of the kinetic and potential energy. While the  
capacitors absorb energy, the bus voltage increases. Later, the capacitors  
release that potential energy in subsequent accelerations, or into typical drive  
losses.  
If too much energy is absorbed by the capacitors, the Aries drive faults from  
over-voltage. Under these circumstances, an external power dump resistor is  
required.  
That ability to absorb energy can be defined in terms of capacitance and  
voltage.  
1
2
2
EC = C(VTRIP −VNOM  
)
2
Where  
EC = energy that can be absorbed by the drive capacitors (Joules)  
C = drive capacitance (Farads)  
VTRIP = power dump trip DC voltage (400 VDC for Aries drives)  
VNOM = nominal DC motor voltage (typically AC mains voltage at  
; for  
2
example, 120 VAC *  
= 170 VDC)  
2
Fortunately, for a given drive the capacitance and voltages are fixed. Table  
58 provides the needed information and results from the above calculation.  
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Capacitance  
(uF)  
VTRIP  
(VDC)  
EC (120 VAC)  
Joules  
EC (240 VAC)  
Joules  
Drive  
AR-01xx  
AR-02xx  
AR-04xx  
AR-08xx  
AR-13xx  
AR-20xE  
AR-30xE  
440  
400  
28  
9
660  
400  
400  
400  
400  
400  
400  
43  
14  
19  
24  
35  
50  
50  
880  
57  
1100  
1590  
2240  
2240  
72  
104  
N/A  
N/A  
When the voltage drops below 385 VDC, the Aries drive stops dissipating power through the  
power dump resistor.  
Table 58 Drive Capacitor Absorption  
Energy Dissipated in Motor Winding Resistance  
Some energy is dissipated in the motor windings. Because the energy is  
converted to wasted heat in the motor, it is referred to as copper losses.  
The energy during deceleration can be derived from the inertia, deceleration  
rate, motor resistance, and motor torque constant. If some of the parameters  
are not known, the energy dissipated in the motor windings (EW) can  
conservatively be assumed zero (0).  
This is based on current and motor winding resistance.  
2
⎛
⎞
(
JM + JL  
⋅ω  
)
1
1
2
⎜
⎜
⎟
⎟
EW = I RM ⋅tD = ⋅  
⋅ RM ⋅tD  
2
2
kT ⋅tD  
⎝
⎠
Where  
EW = energy dissipated in the motor windings (Joules) – copper losses  
I = current through the windings (Ampsrms  
RM = line to line motor resistance (Ohms)  
tD = deceleration time (Seconds)  
JM = rotor inertia (kg⋅m2)  
)
JL =  
load inertia (kg⋅m2)  
kT =  
motor torque constant (Nm/Amprms)  
ω =  
rotational speed in radians per sec (1 revolution/sec =  
2⋅π⋅radians/sec)  
Appendix B External Power-Dump Resistor Selection 179  
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Energy Dissipated in Load  
The load dissipates energy through friction losses, viscous damping, and  
other motor/load related losses. These losses are known as load losses. If  
some of the parameters are not known, the energy dissipated in the load (EL)  
can conservatively be assumed zero (0).  
This can be derived from the torque required during the constant velocity  
portion of the move profile, either measured or calculated.  
1
EL = Tω ⋅tD  
2
Where  
EL = energy dissipated by the load (Joules) – load losses  
T =  
torque at constant velocity (Nm)  
ω =  
rotational speed in radians per sec (1 revolution/sec =  
2⋅π⋅radians/sec)  
tD =  
deceleration time (Seconds)  
Energy to Dissipate in the External Power-Dump  
Resistor  
To stop a motor, kinetic and potential energy must go somewhere. Through  
the previous calculations, you have determined the total kinetic and potential  
energy, and the energy lost to various paths.  
From the total kinetic and potential energy, subtract the energy dissipated  
through the drive capacitors, motor windings, and load loss. If the copper  
losses (EW) or load losses (EL) are not easily determined, you can  
conservatively assume they are zero (0).  
The resulting sum represents the power for dissipation in an external power  
dump resistor.  
ER = EK + EP − EC − EW − EL  
Where  
ER = energy to be dissipated in the external resistor (Joules)  
EK = rotational kinetic energy (Joules)  
EP =  
potential energy (Joules)  
EC = energy that can be absorbed by the drive capacitors (Joules)  
EW = energy dissipated in the motor windings (Joules) – copper losses  
EL = energy dissipated by the load (Joules) – load losses  
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Resistor Specifications⎯Rotary Motors  
Having determined the amount of energy to dump (ER), you can then  
calculate the resistor specifications.  
•
•
•
Maximum resistance  
Peak dissipation  
Average dissipation  
Maximum Resistance  
This calculation determines the maximum value of resistance needed for the  
external power-dump resistor. We recommend that you select a lower value  
resistance, typically in the 22 to 100 ohm range.  
Important — It is possible to overload an Aries drive or the combination of an Aries drive and  
power dump resistor.  
If at the end of the calculations you find the required resistor is less than allowed for your  
specific Aries model, or requires a watt rating greater than the rated resistors available, do not  
use the Aries drive in your application.  
Aries drive models AR-01xx, AR-02xx, AR-04xx, AR-08xx, and AR-13xx, require external  
resistance values of 22 Ohms or greater.  
Aries drive models AR-20xE and AR-30xE require external resistance values of 8 Ohms or  
greater  
VTRIP ⋅kT ⋅tD  
V
I
RR =  
=
(
JM + JL ⋅ω  
)
Where  
RR = maximum external power dump resistance (Ohms)  
V =  
voltage across the resistor (VTRIP  
)
I =  
current through the resistor (drive current required to decelerate  
the load)(Ampsrms  
VTRIP = power dump trip DC voltage (400 volts for Aries drives)  
kT = motor torque constant (Nm/Amprms  
JM = rotor inertia (kg⋅m2)  
)
)
JL =  
tD =  
ω =  
load inertia (kg⋅m2)  
deceleration time (Seconds)  
rotational speed in radians per sec (1 revolution/sec =  
2⋅π⋅radians/sec)  
Appendix B External Power-Dump Resistor Selection 181  
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Peak Dissipation  
During a single deceleration, all the calculated power-dump energy (ER) must  
dissipate in the external resistor. The external power-dump resistor then  
slowly dissipates that energy as heat. This peak power must not exceed the  
capabilities of the resistor, which is typically 10 times the average power  
rating.  
ER  
P
=
PEAK  
tD  
Where  
PEAK= peak power into the external power dump resistor (Watts)  
ER = energy to be dissipated in the external resistor (Joules)  
tD = deceleration time (Seconds)  
P
Average Dissipation  
Repetitive moves need to dump the energy each time the deceleration  
occurs. The duty cycle of this repetition determines the average power the  
resistor must dissipate. This average power must not exceed the capabilities  
of the resistor.  
Power resistors are rated based on ideal heatsink and airflow conditions, and  
are therefore often over-rated by the manufacturers. To ensure the average  
energy dissipation of the resistor exceeds the average power dump for the  
application, the regenerative power should never exceed 50% of the  
resistor’s average power rating.  
tD  
P = P  
⋅
AVG  
PEAK  
tC  
Where  
P
AVG = average power into the external power dump resistor (Watts)  
PEAK =peak power into the external power dump resistor (Watts)  
P
tD =  
deceleration time (Seconds)  
tC =  
cycle time or time between each deceleration event (Seconds)  
Important — Under normal operation the external power-dump resistor  
could operate in excess of 200 °C. Keep the resistor away from thermally  
sensitive components, such as cables or plastic hardware.  
Proper installation may require the use of thermal compound and proper  
thermal connection to a heat absorbing metal surface.  
182 Aries User Guide  
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Calculating Resistance—Linear Motors  
Because there are different types of motion profiles and application specific  
conditions, you may need to modify the results to suit your particular  
application. To keep it simple, the formulas assume a trapezoidal move  
profile, in which the deceleration event is a single constant deceleration to  
zero (0) velocity. For other motion profiles, you can modify the basic  
concepts presented below.  
Calculating the amount of energy to dissipate requires the motion profile  
parameters, and the motor, drive, and load information. While significantly  
more information is required, the calculations help tailor the size of power-  
dump resistor to your application.  
This is a multi-step process:  
1.  
2.  
3.  
4.  
5.  
6.  
Calculate the motor’s kinetic energy.  
Calculate the motor’s potential energy—vertical applications only.  
Calculate the energy that can be absorbed by the drive capacitors  
Calculate energy dissipated in the motor winding resistance  
Calculate energy dissipated in load  
Using the results from the previous four calculations, calculate the  
amount of energy to dissipate through an external power-dump resistor.  
With that result, you can then calculate the resistor necessary to dissipate  
the excess energy.  
Total Kinetic Energy  
A body in motion produces energy. To stop motion, that energy must be  
absorbed or dissipated elsewhere.  
That energy can be defined in terms of mass and velocity.  
M F + M L  
v2  
)
1
2
EK =  
(
Where  
EK = rotational kinetic energy (Joules)  
MF = mass of forcer in kilograms (kg)  
ML = mass of load in kilograms (kg)  
v =  
velocity in meters per second (m/s)  
Total Potential Energy  
A body at rest stores energy relative to the position of the body. When the  
body moves, the potential energy is released and translated into kinetic  
energy.  
For purely horizontal applications, potential energy is negligible and therefore  
not necessary for inclusion in your calculations. However, for vertical  
applications, potential energy can greatly affect the selection of power dump  
resistor. Regardless whether the incline is gentle or steep, it is important to  
calculate the potential energy that must be absorbed or dissipated  
elsewhere.  
Appendix B External Power-Dump Resistor Selection 183  
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Ep = mgh  
Where  
Ep =  
m =  
g =  
potential energy (Joules)  
mass of forcer and load (kg)  
gravitational constant (9.81 m/s2)  
h =  
vertical height change during deceleration (m)  
Energy Absorbed by Drive Capacitors  
The Aries drive’s capacitors can store energy. With motor deceleration, the  
drive capacitors absorb some of the kinetic and potential energy. While the  
capacitors absorb energy, the bus voltage increases. Later, the capacitors  
release that potential energy in subsequent accelerations, or into typical drive  
losses.  
If too much energy is absorbed by the capacitors, the Aries drive faults from  
over-voltage. Under these circumstances, an external power dump resistor is  
required.  
That ability to absorb energy can be defined in terms of capacitance and  
voltage.  
1
2
2
EC = C(VTRIP −VNOM  
)
2
Where  
EC = energy that can be absorbed by the drive capacitors (Joules)  
C = drive capacitance (Farads)  
VTRIP =  
power dump trip DC voltage (400 VDC for Aries drives)  
VNOM =  
nominal DC motor voltage (typically AC mains voltage at  
2
;
2
for example, 120 VAC *  
= 170 VDC)  
Fortunately, for a given drive the capacitance and voltages are fixed. Table  
59 on page 185 provides the needed information and results from the above  
calculation.  
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Capacitance  
(uF)  
VTRIP  
(VDC)  
EC (120 VAC)  
Joules  
EC (240 VAC)  
Joules  
Drive  
AR-01xx  
AR-02xx  
AR-04xx  
AR-08xx  
AR-13xx  
AR-20xE  
AR-30xE  
440  
400  
28  
9
660  
400  
400  
400  
400  
400  
400  
43  
14  
19  
24  
35  
50  
50  
880  
57  
1100  
1590  
2240  
2240  
72  
104  
N/A  
N/A  
When the voltage drops below 385 VDC, the Aries drive stops dissipating power through the  
power dump resistor.  
Table 59 Drive Capacitor Absorption  
Energy Dissipated in Motor Winding Resistance  
Some energy is dissipated in the motor windings. Because the energy is  
converted to wasted heat in the motor, it is referred to as copper losses.  
The energy during deceleration can be derived from the mass, deceleration  
rate, motor resistance, and motor force constant. If some of the parameters  
are not known, the energy dissipated in the motor windings (EW) can  
conservatively be assumed zero (0).  
This is based on current and motor winding resistance.  
2
⎛
⎞
(
M F + M L ⋅v  
)
1
1
2
EW = I 2 RM ⋅tD =  
⋅
⋅ RM ⋅tD  
⎜
⎜
⎟
⎟
2
kF ⋅tD  
⎝
⎠
Where  
EW = energy dissipated in the motor windings (Joules) – copper losses  
I = current through the windings (Ampsrms  
RM = line to line motor resistance (Ohms)  
tD = deceleration time (Seconds)  
)
MF = mass of forcer in kilograms (kg)  
ML = mass of load in kilograms (kg)  
kF =  
motor force constant (N/Amprms)  
Appendix B External Power-Dump Resistor Selection 185  
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Energy Dissipated in Load  
The load dissipates energy through friction losses, viscous damping, and  
other motor/load related losses. These losses are known as load losses. If  
some of the parameters are not known, the energy dissipated in the load (EL)  
can conservatively be assumed zero (0).  
This can be derived from the force required during the constant velocity  
portion of the move profile, either measured or calculated.  
1
EL = F ⋅v ⋅tD  
2
Where  
EL = energy dissipated by the load (Joules) – load losses  
F =  
v =  
tD =  
force at constant velocity in Newtons (N)  
velocity in meters per second (m/s)  
deceleration time (Seconds)  
Energy to Dissipate in the External Power-Dump Resistor  
To stop a motor, kinetic and potential energy must go somewhere. Through  
the previous calculations, you have determined the total kinetic and potential  
energy, and the energy lost to various paths.  
From the total kinetic and potential energy, subtract the energy dissipated  
through the drive capacitors, motor windings, and load loss. If the copper  
losses (EW) or load losses (EL) are not easily determined, you can  
conservatively assume they are zero (0).  
The resulting sum represents the power for dissipation in an external power  
dump resistor.  
ER = EK + EP − EC − EW − EL  
Where  
ER = energy to be dissipated in the external resistor (Joules)  
EK = rotational kinetic energy (Joules)  
EP = potential energy (Joules)  
EC = energy that can be absorbed by the drive capacitors (Joules)  
EW = energy dissipated in the motor windings (Joules) – copper losses  
EL =  
energy dissipated by the load (Joules) – load losses  
186 Aries User Guide  
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Resistor Specifications⎯Linear Motors  
Having determined the amount of energy to dump (ER), you can then  
calculate the resistor specifications.  
•
•
•
Maximum resistance  
Peak dissipation  
Average dissipation  
Maximum Resistance  
This calculation determines the maximum value of resistance needed for the  
external power-dump resistor. We recommend that you select a lower value  
resistance, typically in the 22 to 100 ohm range.  
Important — It is possible to overload an Aries drive or the combination of  
an Aries drive and power dump resistor.  
If at the end of the calculations you find the required resistor is less than  
allowed for your specific Aries model, or requires a watt rating greater than  
the rated resistors available, do not use the Aries drive in your application.  
Aries drive models AR-01xx, AR-02xx, AR-04xx, AR-08xx, and AR-13xx,  
require external resistance values of 22 Ohms or greater.  
Aries drive models AR-20xE and AR-30xE require external resistance  
values of 8 Ohms or greater  
VTRIP ⋅kF ⋅tD  
V
I
RR =  
=
(
MF + ML ⋅v  
)
Where  
RR = maximum external power dump resistance (Ohms)  
V =  
voltage across the resistor (VTRIP  
)
I =  
current through the resistor (drive current required to decelerate  
the load)(Ampsrms  
TRIP = power dump trip DC voltage (400 volts for Aries drives)  
kF = motor force constant (N/Amprms  
)
V
)
MF = mass of forcer in kilograms (kg)  
ML = load mass in kilograms (kg)  
tD =  
deceleration time (Seconds)  
velocity in meters per second (m/s)  
v =  
Peak Dissipation  
During a single deceleration, all the calculated power-dump energy (ER)  
must dissipate in the external resistor. The external power-dump resistor  
then slowly dissipates that energy as heat. This peak power must not exceed  
the capabilities of the resistor, which is typically 10 times the average power  
rating.  
Appendix B External Power-Dump Resistor Selection 187  
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ER  
tD  
P
=
PEAK  
Where  
PPEAK=  
peak power into the external power dump resistor (Watts)  
ER = energy to be dissipated in the external resistor (Joules)  
tD = deceleration time (Seconds)  
Average Dissipation  
Repetitive moves need to dump the energy each time the deceleration  
occurs. The duty cycle of this repetition determines the average power the  
resistor must dissipate. This average power must not exceed the capabilities  
of the resistor.  
Power resistors are rated based on ideal heatsink and airflow conditions, and  
are therefore often over-rated by the manufacturers. To ensure the average  
energy dissipation of the resistor exceeds the average power dump for the  
application, the regenerative power should never exceed 50% of the  
resistor’s average power rating.  
tD  
P = P  
⋅
AVG  
PEAK  
tC  
Where  
PAVG =  
PPEAK =  
average power into the external power dump resistor (Watts)  
peak power into the external power dump resistor (Watts)  
tD =  
deceleration time (Seconds)  
tC =  
cycle time or time between each deceleration event (Seconds)  
Important — Under normal operation the external power-dump resistor could  
operate in excess of 200 °C. Keep the resistor away from thermally sensitive  
components, such as cables or plastic hardware.  
Proper installation may require the use of thermal compound and proper  
thermal connection to a heat absorbing metal surface.  
188 Aries User Guide  
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Appendix C Regulatory Compliance–UL and CE  
APPENDIX C  
Regulatory Compliance  
UL and CE  
IN THIS CHAPTER  
System Installation Overview...................................................................190  
General Safety Considerations................................................................190  
General EMC Considerations..................................................................190  
Installing the Aries Drive..........................................................................191  
Regulatory Agencies................................................................................200  
Standards of Compliance ........................................................................200  
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System Installation Overview  
This appendix contains information related to installation methods and  
practices that can be used to aid the systems integrator or machine builder in  
designing a compliant installation, meeting the needs of global regulatory  
agencies.  
The installation overview is divided in to two sections—“Safety” and  
“Electromagnetic Compatibility (or EMC)”.  
It is recommended that the installer read this entire overview, prior to taking  
any action, as some of the required installation methods can be leveraged  
across both Safety and EMC installations.  
Although Aries drives are technically considered motion control components  
and are therefore not within the scope of the European union’s CE  
(Conformité Européenne) directives, Parker has taken the initiative to provide  
its customers with easy to integrate motion control products that meet global  
requirements.  
The following constitutes what is typically required to install Aries drives into  
a CE compliant system. Additional installation measures may be required at  
some locations. The machine builder has ultimate responsibility for machine  
compliance.  
General Safety Considerations  
These products are intended for installation according to the appropriate  
safety procedures including those laid down by the local supply authority  
regulations. The recommendations provided are based on the requirements  
of the Low Voltage Directive and specifically on EN61010. Remember, never  
compromise safety to achieve EMC compliance. Therefore, in the event of a  
conflict between safety regulations and the following EMC recommendations,  
safety regulations always take precedence.  
General EMC Considerations  
The Aries product is a motion control component and as such will be built in  
to another machine that will in turn be required to comply with the relevant  
directives of the marketplace.  
It is important to remember that for specific installations, the full protection  
requirements of the EMC directive 89/336/EEC need to be met before the  
system is taken in to service. This must be verified either by inspection or by  
testing. The following EMC installation recommendations are intended to  
assist in ensuring that the requirements of the EMC directive are met. It may  
be necessary to take additional measures in certain circumstances and at  
specific locations.  
It should be stressed that although these recommendations are based on the  
expertise acquired during the design and development of the Aries products,  
and on tests carried out on similar products, it is impossible for Parker to  
guarantee compliance of any particular installation. This will be strongly  
influenced by the physical and electrical details of the installation and the  
performance of other system components. Nevertheless, it is important to  
follow all the installation recommendations if an adequate level of compliance  
is to be achieved.  
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Installing the Aries Drive  
Only qualified, skilled electrical technicians familiar with local safety  
requirements should install this product. For service, the drive must be  
returned to an authorized service center. There are no user serviceable parts  
inside the chassis. In certain circumstances, opening the cover may void the  
product warranty.  
The Aries drive is a vented product. To prevent material spilling into the  
drive, mount it under an overhang or in a suitable enclosure.  
Aries products are made available under “Restricted Distribution” for use in  
the “Second Environment” as described in EN 61800-3 1996, page 9. This  
means only those individuals familiar with the EMC requirements of power  
drive systems should install this product and that this product is designed for  
connection to mains distribution networks other than low-voltage networks,  
which may supply domestic premises. The drives can tolerate atmospheric  
pollution degree 2, which means only dry, non-conductive pollution is  
acceptable.  
Aries drives have been shown to meet the requirements of both the  
European LVD & EMC directives when installed according to the  
recommendations given within this section. It is recommended the drive be  
installed in an enclosure to protect it from atmospheric and industrial process  
contaminants and to prevent operator access while it has power applied.  
Metal equipment cabinets are ideally suited for housing the equipment since  
they can provide operator protection, EMC screening, and can be fitted with  
interlocks arranged to remove all hazardous motor and drive power when the  
cabinet door is opened. Do not arrange interlocks to open circuit the motor  
phase connections while the system is still powered, as this could cause  
damage to the drive.  
Precautions  
During installation, take the normal precautions against damage caused by  
electrostatic discharges. Wear earth wrist straps. A switch or circuit breaker  
must be included in the installation, which must be clearly marked as the  
disconnecting device and should be within easy reach of the machine  
operator.  
The Aries Drive has exposed high voltage terminals. In order to comply with  
the safety requirements pertaining to European Compliance, and other  
authorities, the drive must be mounted in such a way as to restrict access to  
these terminals during normal operation.  
A Safe Installation – Meeting the Requirements of the Low  
Voltage Directive (LVD)  
In order to comply with the requirements of the European Union’s Low  
Voltage Directive, the following installation measures must be taken.  
•
Mains fuses must be installed on all mains input lines carrying  
operating current. For more information, see “Motor Power Fuse  
Information” on page 41 and page 46.  
•
Drive Protective Earth Conductor must be connected directly to a  
reliable system safety Earth point. Total resistance from Drive’s  
Protective Conductor Terminal to a Reliable System Safety Earth  
Appendix C Regulatory Compliance – UL and CE 191  
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must not exceed 0.1 Ohm, and must be capable of carrying 25A of  
Fault Current.  
•
•
Motor safety earth conductor (for motor voltages greater than or  
equal to 75 volts) must be connected to the drive’s Motor Earth  
terminal, marked with  
.
The drive must be installed in a manner that prevents operator  
access to hazardous live terminals during normal operation.  
Additional safety measures may be required within your particular market,  
please consult you local regulatory agency for additional requirements.  
A Highly-Immune, Low-Emission Installation – Meeting the  
Requirements of the Electromagnetic Compatibility (EMC)  
Directive  
The following information was compiled to aid the machine builder or  
systems integrator in gaining EMC compliance. For effective control of  
Conducted and Radiated Emissions, along with maximizing the Aries Drive’s  
inherent noise immunity, the following recommendations should be followed.  
A drawing of a typical EMC installation is shown below.  
•
Mount the Drive and all components to a clean (not painted),  
earthed, metal panel.  
Important!  
To reduce the risk of electrical noise entering your system you must  
properly earth ground the enclosure, and remove all paint and other  
non-conductive surface coatings from the panel mounting surface and  
RF earth bonding locations.  
If you mount the Aries drive in an equipment cabinet, terminate cable  
braids (screens) at the entrance of the enclosure. This can be easily  
accomplished using the “additional EMC installation hardware” shown  
below.  
The only exception is for the motor braid, which must return to the  
drive’s R-Clamp (located on the bottom of the Aries drive. Do not return  
the motor braid to any other location, its function is to return high-  
frequency chopping current back to the drive. This may require  
mounting the connector on a sub-panel insulated from the main cabinet,  
or using a connector having an insulated internal screen from the  
connector housing.  
The shields of all other cables that enter or exit the enclosure must be  
RF bonded to the enclosure entrance point using an R-Clamp, bulkhead  
clamshell clamp, or other 360° bonding technique. This ensures that no  
stray noise will enter or exit the enclosure. The following drawing  
illustrates 360° bonding techniques.  
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Figure 52 360° Bonding Techniques  
All braid termination connections must remain secure. For small  
diameter cables, it may be necessary to fold back the braid to increase  
the effective diameter of the cable so that R-Clamps are secure.  
Within the cabinet itself, all the motor cables should lie in the same  
trunking as far as possible. Keep the cables separate from any low-level  
control signal cables. This applies particularly where the control cables  
are unscreened and run close to the drive.  
There must be no break in the 360° coverage that the screen provides  
around the cable conductors.  
A steel equipment cabinet will screen radiated emissions provided all  
panels are bonded to a central earth point. Separate earth circuits are  
commonly used within equipment cabinets to minimize the interaction  
between independent circuits. A circuit switching large currents and  
sharing a common earth return with another low-level signal circuit could  
conduct electrical noise into the low level circuit, thereby possibly  
interfering with its operation. For this reason, so called ‘dirty earth’ and  
‘clean earth’ circuits may be formed within the same cabinet, but all  
such circuits will eventually need to be returned to the cabinet’s main  
star earth point.  
Mount the individual drives and EMC filter on a metal earth plane. The  
earth plane will have its own individual star point earth that should be  
hard wired (using an insulated copper conductor) back to the cabinet’s  
‘clean earth’ connection point.  
Panel mounting can provide a similar measure of EMC performance if  
strict attention is paid to cable screen termination and cable layout.  
Again, the machine builders primary focus should be on ensuring  
operators are kept safe from all hazards.  
•
Install a Mains filter. Aries drives require an EMC mains supply filter  
to meet EMC emission requirements. It is recommended that the  
drive is mounted on a conductive panel which is shared with the  
EMC filters. If the panel has a paint finish, it will be necessary to  
Appendix C Regulatory Compliance – UL and CE 193  
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remove the paint in certain areas to ensure filters and drive make a  
good large-area metal to metal contact between filter case and  
panel.  
You must install a filter on both the Motor power mains and Control  
power mains if both are used. Use Table 60 and Table 61 to determine  
the correct filter for your specific application.  
Control Power  
Control power is 1 Amp, maximum. Any of the following filters works with all  
models of the drive.  
Filter  
Manufacturer  
Corcom  
6EP1 (160937-5)  
10EP1 (160937-7)1,  
Corcom  
FN2070-10/06  
Schaffner  
1. Available from Parker:  
10 Amp filter—part number 47-016140-01  
16 Amp filter—part number 47-017900-01  
Table 60 Control Power Filter Selection  
Mains Motor Power  
Filter  
Continuous  
Current  
AR-  
01xx  
AR-  
02xx  
AR-  
04xx  
AR-  
08xx  
AR-  
13xx  
AR-  
20xE  
AR-  
30xE  
(Amps)  
6EP1 (160937-5)1  
10EP1 (160937-7)1, 3  
FN2070-10/062  
FN2070-12/06  
FN2070-16/062, 3  
16FCD101  
5 at 240 VAC  
8 at 240 VAC  
10 at 240 VAC  
12 at 240 VAC  
16 at 240 VAC  
16 at 240 VAC  
25 at 240 VAC  
×
×
×
×
×
×
×
×
x
x
x
x
×
×
×
×
×
×
×
×
x
x
25FCD101  
x
Product with applicable mains filter denoted by “×”  
1. Corcom (a division of Tyco Electronics)  
2. Schaffner  
3. Available from Parker:  
10 Amp filter—part number 47-016140-01  
16 Amp filter—part number 47-017900-01  
Table 61 Mains Motor Power Filter Selection  
•
Install Transient suppressors.  
Single Phase Input  
You must install varistors or other voltage surge limiting devices in order  
to meet the requirements of EN61000-4-5. Place a Littelfuse  
V275LA2ØC, or an equivalent varistor, from line to line and from lines to  
earth before the mains filter, as shown in the EMC Installation drawings.  
(Intersil, General Electric, and Littelfuse manufacture equivalent  
varistors.)  
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Three Phase Input  
Control Power – You must install varistors or other voltage surge limiting  
devices in order to meet the requirements of EN61000-4-5. Level 3  
Voltage Surge (1000V line-to-line, 2000V line-to-earth) protection can  
be achieved by placing a Littelfuse V275LA20C, or an equivalent  
varistors from line-to-line and from line-to-earth before the mains filter as  
shown in Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE  
on page 198.  
Mains Motor Power – The three-phase AC power Aries drives (models  
AR-20xE and AR-30xE) are designed to meet Level 3 Voltage Surge  
(1000V line-to-line, 2000V line-to-earth) without the need for external  
voltage surge limiting devices. If a higher level of mains surge immunity  
is required, external voltage sure limiting devices, such as varistors, can  
be installed before the mains filter. Figure 54 Typical LVD/EMC  
Installation, AR-20xE & AR-30xE on page 198 illustrates this installation.  
Note: Intersil, General Electric, and Littelfuse manufacture equivalent  
varistors.  
•
Use an EMC-ready motor or a motor that has demonstrated  
acceptable EMC performance.  
Motors with shielded cabling or pipe thread style cabling options allow  
the easiest integration into machines required to bear the CE mark for  
EMC.  
Note: Motors may bear the CE mark. This mark indicates the motor  
meets the requirements of construction and safety—not EMC  
compliance.  
•
Use shielded cabling with braided and bonded headshells.  
Parker EMC cabling—requires no additional cable preparation.  
All motor connections must be made using a high quality braided-screen  
cable. Cables using a metalized plastic bandage for an earth screen are  
unsuitable and in fact provide very little screening. Care must be taken  
when terminating the cable screen, the screen itself is comparatively  
fragile; bending it round a tight radius can seriously affect the screening  
performance. The selected cable must have a temperature rating which  
is adequate for the expected operating temperature of the motor case.  
All cables must maintain high integrity 360 degree shielding. Parker CE  
cables are fully shielded and provide the required screening. When you  
install limit switches and other inputs/outputs, you must observe these  
noise immunity procedures and practices.  
•
Route cables as shown in Figure 53 Typical LVD/EMC Installation,  
AR-02xx to AR-13xx on page 197 and Figure 54 Typical LVD/EMC  
Installation, AR-20xE & AR-30xE on page 198.  
Route high power cables (motor and mains) at right angles to low power  
cables (communications and inputs/outputs). Never route high and low  
power cables parallel to each other.  
Mount filters close to the drive and keep the supply wiring as short as  
practical. Attempt to layout the wiring in a way that minimizes cross  
coupling between filtered and non-filtered conductors. This means  
avoiding running wires from the output of a filter close to those  
connected to its input. Where you wish to minimize the cross coupling  
between wires avoid running them side-by-side one another, if they  
Appendix C Regulatory Compliance – UL and CE 195  
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must cross, cross them at 90° to each other. Keep wiring supported and  
close to cabinet metalwork.  
•
Cables may require the use of ferrite core suppressors.  
Some installations may require that you take additional EMC measures.  
To further increase product immunity and reduce product emissions,  
you may add clip-on ferrite absorbers to all cables. Parker recommends  
ferrites with at least 200 ohm impedance at 100 MHz, such as the  
following:  
Steward Ferrite  
Fair-Rite  
Part number 28A2024  
Part number 0443164151  
Note:  
These ferrites are available from Parker Hannifin, part number 47-015956-01.  
For larger diameter cables (up to 0.722 in O.D.), Fair-Rite part number  
0444176451 is recommended.  
•
Your Installation may require additional EMC installation hardware  
(as shown in illustrations).  
The following clamp kits are available from Parker:  
Clamp Type  
Parker Part Number  
R-Clamp Kit (10 per) for models  
AR-02xx to AR-13xx  
R CLAMP KIT  
R-Clamp Kit (10 per) for models  
AR-20xE and AR-30xE  
R LARGE CLAMP KIT  
CLAMSHELL KIT  
Clamshell Clamp Kit (2 per)  
for all models  
Table 62 Enclosure Mounting Clamps  
Note: The Control power input also requires a mains power line filter,  
varistors, and fuses in order to comply with the relevant CE directives.  
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Panel Installation, AR-02xx to AR-13xx  
Figure 53 Typical LVD/EMC Installation, AR-02xx to AR-13xx  
Warning — This product has been developed for industrial environments.  
Due to exposed high voltage terminals, this product must not be accessible  
to users while under normal operation.  
Appendix C Regulatory Compliance – UL and CE 197  
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Panel Installation, AR-20xE & AR-30xE  
Aries models AR-20xE and AR-30xE require 240 VAC input power and  
three-phase wiring.  
Figure 54 Typical LVD/EMC Installation, AR-20xE & AR-30xE  
Warning — This product has been developed for industrial environments.  
Due to exposed high voltage terminals, this product must not be accessible  
to users while under normal operation.  
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Panel Mounting  
The mounting clearance requirements are the same for all Aries drive  
models. They are shown in Figure 55.  
Figure 55 Panel Layout Dimensions for the Aries Drive  
Appendix C Regulatory Compliance – UL and CE 199  
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Regulatory Agencies  
The Aries family of products is designed to meet the requirements of global  
regulatory agencies.  
Aries products have shown compliance with the regulatory agencies in the  
following list. The list also shows additional steps users must take to ensure  
compliance.  
Agency  
UL,  
Additional Steps User Must Take  
Mains fuses  
CE (LVD)  
Mains fuses; earth connection for drive and motor (if  
applicable), proper installation  
CE (EMC)  
Varistors, mains filter, EMC cabling, EMC ready motor,  
proper installation  
Table 63 Regulatory Agencies  
Standards of Compliance  
UL  
508C  
CE for LVD  
72/23/EEC  
BS EN 61010-1  
(1993) including  
Amendment A2.  
Safety requirements for electrical  
equipment for measurement,  
control, and laboratory use. Part  
1. General Requirements.  
CE for EMC  
89/336/EEC  
BS EN 61800-3  
(1997) including  
Amendment A11  
Adjustable speed electric power  
drive systems Part 3. EMC  
product standard including  
specific test methods.  
BS EN 50081-2  
(1994)  
Generic emission standard Part  
2. Industrial Environment.  
Electromagnetic  
compatibility  
BS EN 61000-6-2  
(1999)  
Immunity for industrial  
environments.  
Electromagnetic  
compatibility Part 6-2:  
Generic Standards  
200 Aries User Guide  
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Appendix D Servo Tuning Flow Diagram  
APPENDIX D  
Servo Tuning  
Flow Diagram  
IN THIS CHAPTER  
Servo Tuning Flow Diagram ....................................................................202  
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Servo Tuning Flow Diagram  
Figure 56 Servo Tuning Flow Diagram  
202 Aries User Guide  
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Appendix E VM26 Expansion Module  
A P P E N D I X E  
VM26 Expansion  
Module  
IN THIS CHAPTER  
Overview..................................................................................................204  
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Overview  
The VM26 expansion module provides screw-terminal connections for the  
Drive I/O connectors on the Aries drive. The VM26 comes with a 2-foot cable  
(609.6 mm) that provides easy connection between the VM26 module and  
the drive’s 26-pin I/O connectors. The VM26 expansion module is ordered  
separately (part number “VM26-PM”).  
Notes  
•
•
The VM26 module ships with DIN-rail mounting clips installed.  
The overall cabinet depth with cable-bend radius is 5 inches (127 mm).  
Figure 57 VM26 Breakout Module  
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Index  
120/240 VAC power input ..................................39, 47  
absolute position, establishing  
connector  
brake relay......................................................... 50  
effect on position report (TPE) ...........................151  
accuracy ...............................................................169  
address  
multiple units (ADDR)..........................................95  
encoder ..................................................................96  
align encoder (ALIGN) .............................................96  
amplifier ...............................................................169  
analog input  
control input power............................................. 47  
drive I/O ............................................................ 66  
locations of......................................................... 37  
mains................................................................. 40  
motor................................................................. 44  
motor feedback .................................................. 62  
motor feedback, resolver..................................... 65  
motor output power............................................ 43  
output power...................................................... 44  
regeneration....................................................... 54  
continuous current  
ANI ........................................................... See ANI  
analog input center deadband (ANICDB)...................97  
ANI  
check input voltage (TANI) ................................145  
input resolution........................................... 71, 166  
voltage status (TANI) ........................................145  
wiring.................................................................69  
auto-configure, smart encoder ......................... 33, 163  
autorun........................................................... 72, 104  
binary value identifier (b).........................................94  
brake  
brake relay .........................................................50  
non-Parker motors ..............................................52  
output delay (OUTBD) .......................................137  
Parker motors .....................................................51  
bus voltage, report (TVBUS)...................................153  
cables  
EMC .................................................................173  
non-EMC...........................................................173  
routing ....................................................... 31, 192  
carriage return, command delimiters ........................94  
case sensitivity........................................................94  
CE  
EMC ..................................................... 9, 190, 200  
LVD...................................................... 9, 191, 200  
center deadband (ANICDB)......................................97  
change summary....................................12, 13, 14, 15  
characters  
derating, motor (DMTICD)................................. 106  
motor (DMTIC)................................................. 106  
control input power................................................. 40  
connection ......................................................... 47  
supply................................................................ 46  
cooling  
cabinet..........................................................23–27  
drive .................................................................. 22  
current foldback  
enable/disable (DIFOLD)............................102, 173  
overview .......................................................... 173  
damping  
servo  
motor .......................................................... 105  
DC link inductor ...................................................... 45  
deadband (ANICDB)................................................ 97  
debugging tools  
error log (TERRLG) ........................................... 148  
default command settings ....................................... 92  
restore (RFS).................................................... 139  
delimiters  
command........................................................... 94  
comment............................................................ 94  
direction of rotation (CMDDIR) ................................ 98  
drive  
command delimiters ............................................94  
comment delimiter ..............................................94  
field separators ...................................................94  
limit per line........................................................94  
neutral (spaces)..................................................94  
COM port........................................................ 75, 159  
command offset (DCMDZ)......................................101  
commands  
command description format................................92  
command-to-product compatibility .......................92  
default settings ...................................................92  
delimiters............................................................94  
syntax ................................................................92  
comment delimiters.................................................94  
communication interface  
bus voltage, status of (TVBUS).......................... 153  
command offset, zero (DCMDZ)......................... 101  
drive enable (DRIVE) ........................................ 125  
incoming pulse scaling (DMPSCL)....................... 104  
operating modes (DMODE)................................ 103  
position error (SMPER)...................................... 143  
temperature, status report (TDTEMP) ................ 148  
velocity error (SMVER) ...................................... 144  
resolution............................................................. 125  
drive cooling........................................................... 22  
drive dimensions..........................................28, 29, 30  
drive dimensions, panel layout..........................31, 199  
Drive Enable (DRIVE)............................................ 125  
drive resolution (DRES) ......................................... 125  
echo, communication ............................................ 126  
echo enable ......................................................126  
communications  
RS-232/485.........................................................74  
configuration  
electrical pitch (DMEPIT)  
....................................... 103  
EMC................................................................33, 200  
EMC installation .............................................197, 198  
enable input  
errors (CONFIG)..................................................99  
warnings (CONFIG) .............................................99  
error checking (ERROR) .................................... 129  
wiring ................................................................ 69  
configuration error, motor (DMTR) .........................  
112  
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encoder  
auto-configure (smart)................................. 33, 163  
inrush current......................................................... 42  
installation  
LVD/EMC...................................................197, 198  
installation category................................................ 22  
installation, overview....................................35, 36, 37  
jumper wires, pre-installed ................................ 35, 37  
lead/lag filters  
lag................................................................... 123  
lead ................................................................. 122  
LEDs ...............................................................56, 158  
line feed, command delimiters ................................. 94  
linear motor pitch (DMEPIT) .................................. 103  
LVD.............................................................9, 33, 200  
LVD installation..............................................197, 198  
mass, forcer ......................................................... 109  
memory  
input resolution (ERES)......................................128  
position commanded (TPC)................................151  
position report (TPE) .........................................151  
position report error (TPER)...............................151  
resolution (ERES) ..............................................128  
encoder offset.......................................................127  
environment............................................................22  
epitch (DMEPIT)....................................................103  
error  
clear log (CERRLG)..............................................98  
display log contents (TERRLG) ...........................148  
error checking enable (ERROR)..........................129  
error log setup (ERRORL) ..................................131  
error messages ........................................... 159–63  
European Conformance Statement ............................ 9  
External DC link inductor..........................................45  
factory default settings, restore (RFS).....................139  
faults  
after a reset (RESET)........................................ 138  
return to factory settings (RFS) ......................... 139  
motor  
ambient temperature (DMTAMB) ....................... 105  
auto-configure.................................................. 112  
brake ................................................................. 50  
configuration error (DMTR, CONFIG).................. 112  
connector........................................................... 59  
continuous current (DMTIC) .............................. 106  
continuous current derating (DMTICD)............... 106  
damping........................................................... 105  
drift, minimizing (DCMDZ)................................. 101  
full wave rectifiers............................................... 51  
fuses, input power........................................ 41, 42  
input power.................................................. 39, 40  
linear motor pitch (DMEPIT).............................. 103  
output power...................................................... 43  
output power, connection.................................... 44  
peak current (DMTIP) ....................................... 108  
pole pairs (DPOLE)............................................ 124  
rated speed (DMTW)......................................... 117  
rotor inertia...................................................... 109  
selection recorded (DMTR)................................ 112  
temperature report (TMTEMP)........................... 150  
thermal time constant (DMTTCM) ...................... 116  
voltage constant (Ke) (DMTKE).......................... 110  
winding resistance (DMTRES)............................ 114  
winding temperature, max. (DMTMAX)............... 112  
winding thermal resistance (DMTRWC) .............. 114  
winding time constant (DMTTCW)...................... 117  
motor inductance  
max (DMTIND)................................................. 107  
min (DMTINF) .................................................. 108  
motor temperature switch type (DMTSWT)............. 116  
multiple drives........................................................ 48  
multiple unit address............................................... 95  
multiple unit wiring ................................................. 76  
neutral characters................................................... 94  
notch filter A  
depth............................................................... 119  
frequency......................................................... 120  
quality factor.................................................... 121  
notch filter B  
fault on drive disable (FLTDSB)..........................133  
fault on excessive startup voltage (FLTSTP)........133  
motor configuration error (DMTR, CONFIG) .. 98, 112  
thermal switch (DTHERM)..................................126  
feedback...............................................................169  
filters, AC mains....................................................194  
foldback................................................................102  
foldback (DIFOLD).................................................173  
force  
actual, status (TTRQA) ......................................153  
commanded, status (TTRQ)...............................153  
limit (DMTLIM)..................................................111  
scaling (DMTSCL)..............................................115  
forcer  
mass ................................................................109  
fuses ................................................................41, 42  
gains  
current loop, auto (IAUTO) ................................134  
integral (IGAIN) ................................................134  
integral (SGI)....................................................140  
integral (SGILIM) ..............................................140  
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  
proportional (PGAIN).........................................138  
proportional (SGP).............................................141  
set current loop bandwidth (DIBW) ....................101  
System Load-to-Rotor Inertia Ratio (LJRAT)........135  
torque/force limit (DMTLIM)...............................111  
velocity (SGV) ...................................................141  
velocity feedforward (SGVF)...............................142  
velocity limit (DMVLIM)......................................118  
hall sensor  
check sensor values (THALL) .............................149  
configuration/inversion (SHALL) .........................143  
troubleshooting.................................................164  
hexadecimal value identifier (h)................................94  
Incoming Pulse Scaling (DMPSCL) ..........................104  
inductance  
motor max (DMTIND)........................................107  
motor min (DMTINF).........................................108  
input resolution, analog .........................................169  
depth............................................................... 121  
frequency......................................................... 122  
quality factor.................................................... 122  
notch lag filter break frequency ............................. 123  
notch lead filter break frequency............................ 122  
offset  
zero command offset (DCMDZ).......................... 101  
offset, encoder (ENCOFF)...................................... 127  
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operating hours, report (TDHRS)............................146  
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  
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  
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  
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  
Index 207  
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specifications  
drive temperature (TDTEMP)............................. 148  
error log (TERRLG) ........................................... 148  
hall sensor values (THALL) ................................ 149  
maximum current rating (TDIMAX) .................... 147  
motor temperature (TMTEMP)........................... 150  
operating hours (TDHRS) .................................. 146  
operating milliseconds (TDSEC) ......................... 147  
operating minutes (TDMIN)............................... 147  
output status (TOUT)........................................ 150  
position commanded (TPC) ............................... 151  
position of encoder (TPE).................................. 151  
position of encoder error (TPER)........................ 151  
PWM update period (TSSPD) ............................. 152  
q quadrature current (TCI)................................ 149  
revision level (TREV)......................................... 152  
transient suppressors............................................ 194  
troubleshooting..................................................... 156  
configuration (CONFIG)....................................... 99  
ERROR command (ERROR) ............................... 129  
error log (TERRLG) ........................................... 148  
error messages............................................159–63  
general ............................................................ 157  
hall sensors...............................................149, 164  
LEDs................................................................ 157  
tuning ............................................... See servo tuning  
UL200  
under-voltage protection ....................................... 171  
units of measurement ............................................. 92  
linear motors.................................................... 103  
varistors............................................................... 194  
velocity  
actual (feedback device) (TVELA) ...................... 154  
actual commanded (feedback device) (TVEL) ..... 154  
error (feedback device) (TVER).......................... 155  
feedforward gain (SGVF)................................... 142  
limit (DMVLIM) ................................................. 118  
scaling (DMVSCL) ............................................. 119  
Velocity mode  
additional specifications.....................................169  
drive I/O connector .............................................66  
input power connector.........................................57  
mains connector..................................................57  
motor connector..................................................59  
motor feedback connector .............................62, 66  
motor feedback, resolver .....................................65  
standards..........................................................9, 200  
status  
commanded position (TPC)................................151  
commanded velocity, feedback device (TVEL).....154  
encoder position (TPE) ......................................151  
encoder position error (TPC)..............................151  
error log (TERRLG)............................................148  
full text report (STATUS) ...................................145  
outputs (TOUT).................................................150  
software revision level (TREV)............................152  
velocity, feedback device (TVELA)......................154  
velocity, feedback device error (TVER)................155  
voltage input for ANI (TANI)..............................145  
switch type, motor (DMTSWT) ...............................116  
motor ...................................................................116  
syntax, command........................................ 92, 93, 94  
technical support...................................................... 2  
temperature............................................................23  
drive status (TDTEMP).......................................148  
environment .......................................................22  
limits ................................................................170  
motor status (TMTEMP).....................................150  
motor winding (DMTMAX)..................................112  
motor—ambient (DTAMB)..................................105  
thermal switch (DTHERM)......................................126  
thermal time constant, motor (DMTTCM)................116  
torque  
actual, status (TTRQA) ......................................153  
commanded, status (TTRQ)...............................153  
limit (DMTLIM)..................................................111  
scaling (DMTSCL)..............................................115  
tranformation ratio ................................................169  
transfer  
actual torque/force (TTRQA)..............................153  
actual velocity (TVELA)......................................154  
analog input voltage, ANI (TANI) .......................  
bus voltage (TVBUS) .........................................153  
commanded current (TCI) .................................146  
commanded torque/force (TTRQ).......................153  
commanded velocity (TVEL)...............................154  
commanded velocity error (TVER)......................155  
continuous current rating (TDICNT)....................146  
d quadrature current (TCI) ................................149  
maximum acceleration (SMAV) .......................... 143  
voltage  
AC input............................................................. 39  
ANI input (TANI) .............................................. 145  
constant (Ke) of motor (DMTKE)........................ 110  
weight.................................................................... 30  
winding  
resistance, motor (DMTRES).............................. 114  
temperature, max. (DMTMAX)........................... 112  
thermal resistance, motor (DMTRWC) ................ 114  
time constant, motor (DMTTCW) ....................... 117  
zero command offset (DCMDZ).............................. 101  
145  
208 Aries User Guide  
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