Parker Dynaserv G2 User Manual

Also see for Dynaserv G2: User guide

Contents

11-7(6) Driver Function SpecificationsItem SpecificationsHigher interface RS232C interface (single channel communication, multi-channel communication)Controller interface (pulse train position command)Mechanical inputsignalHoming signal, (+) direction hardware over-travel signal, (-) direction hardware over-travelsignal, emergency stop input signalMechanical inputsignalBrake signal (can be switched between clamp and dynamic brake applications with aparameter)Encoder resolution(position commandresolution whenshipped)Rotating type DM1000A series ; 4096000 pls/rev (1024000 pls/rev)DM1000B series ; 2621000 pls/rev (655360 pls/rev)DM1004B/C ; 2621000 pls/rev (655360 pls/rev)DR1000A series ; 1638400 pls/rev (819200 pls/rev)DR1000B series ; 1015808 pls/rev (507904 pls/rev)DM1000E series ; 1228800 pls/rev (614400 pls/rev)DR5000B series ; 557056 plc/rev (278528 pls/rev)DR5000E series ; 638976 pls/rev (319488 pls/rev) stiffness series: 0.5 μm,Linear LM1/2 ; 0.25 μm (0.25 μm)LM3/5 ; 0.5 μm (1.0 μm)MethodI-PD position control (position: integral proportional control, velocity: proportional control)Various feed forward functions (position, velocity, acceleration)Various standard filters (velocity command filter, velocity feedback filter, first order delay filter)Optional filter (notch filter 2 channels)ControlpartAdjustmentPosition control bandwidth:1 Hz to 32Hz, velocity control loop width: 5Hz to 200HzPosition integral limiter settingVarious feed forward percentages (position, velocity, acceleration)Various standard filter settings (velocity command filter bandwidth, velocity feedback filterenable/disable, bandwidth, first order delay filter setting)Optional filter setting (notch filter bandwidth)*1) Calculates proportional gain and acceleration feed forward gain of the velocity control partautomatically based on measurement by the auto-tuning operation or manual setting ofthe load inertia/weight with respect to the settings of velocity control bandwidth andacceleration feed forward percentage.*2) Calculates position control bandwidth, velocity control loop bandwidth, and positionintegral limiting value automatically during execution of the auto-tuning operation or bymanual setting of the servo stiffnessAcceleration/deceleration controlTrapezoidal move: Acceleration curve and deceleration curve can be selected individually.Acceleration time or deceleration time can be selected individually (with respect to themaximum velocity).*3) Real time override possible, interlock possibleOperation functionFollows the position command from the controller interface when none of the operations listedbelow is being performed.Protection functionsEncoder/resolver error, power module error (over-voltage and over current), main powersupply error, overload, maximum velocity, excessive position deviation, hardware over-travel,software over-travel (only for linear coordinate)Others Support software PC utility running under Windows (optional)Possible to connect the operation display pendant (optional)MonitorAnalogue signal monitor (velocity, general, torque/thrust command)For general monitoring, what is shown by the monitor can be selected by setting (position error,test operation response, position command value, current position value, position commanddifferential value)Digital signal monitor (settling signal)Monitoring internal information by higher interfaceError and alarm display on a 7-segment LEDPulse trainOperation Controller interface RS232C interfaceHoming operation ○ ○Test operation ○ ○Auto-tuning ○ ○Jog move × ○11