Parker PACHC Series User manual

Electrohydraulic Control Module Series PACHC
Operation Manual
Bulletin MSG11-5715-720/UK

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Electrohydraulic Control Module
Series PACHC
Electrohydraulic Control Module
Series PACHC
FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS DESCRIBED HEREIN OR RELATED ITEMS CAN CAUSE
DEATH, PERSONAL INJURY AND PROPERTY DAMAGE.
This document and other information from Parker-Hannifin Corporation, its subsidiaries and authorized distributors provide product or
system options for further investigation by users having technical expertise.
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, endurance, maintenance, safety and warning requirements of the application are met. The user must
analyze all aspects of the application, follow applicable industry standards, and follow the information concerning the product in the
current product catalog and in any other materials provided from Parker or its subsidiaries or authorized distributors.
To the extent that Parker or its subsidiaries or authorized distributors provide component or system options based upon data or speci-
fications provided by the user, the user is responsible for determining that such data and specifications are suitable and sufficient for
all applications and reasonably foreseeable uses of the components or systems.
WARNING – USER RESPONSIBILITY
Content
1 Preface 6
1.1 Nonwarranty Clause 6
1.2 Production Site 6
1.3 Reference to Online Version 6
1.4 Registered Trademark 6
1.5 Copyright 6
2. Introduction 7
2.1 Device Assignment 7
2.2 Type Specication Plate PACHC 7
2.3 Safety Instructions 8
2.3.1 Target Group of this Operation Manual 8
2.3.2 Hazard and other Warnings 8
2.3.3 General Hazards 8
2.3.4 Designated Use 8
2.3.5 Safety-conscious Working 9
2.3.6 Special Safety Instructions 9
2.4 Electromagnetic Compatibility 10
3 System Description 12
3.1 PAC 12
3.2 Development Environment CODESYS V3.5 12
4 Product Description 12
4.1 PACHC 12
4.2 Contents of Package 12
4.3 Intended Use 12
4.4 Front and Side View 13
4.5 Connectors 13
4.6 Indicators and Controls 14
4.6.1 Indicators 14
5 Operation 15
5.1 Installation 15
5.1.1 Mechanical Installation 15
5.1.2 Electrical Installation 16
5.2 Development Environment CODESYS V3.5 17
5.2.1 Installing the Device Description 18
5.2.2 Installing Device-specic Libraries 19
5.2.3 Using the Project Templates 20
5.2.4 Adding PACHC (online) 20
5.2.5 Adding PACHC (ofine) 21
5.2.6 Communication 22
5.2.7 Control Values 22
5.2.8 Status Values 22
5.3 Conguration 23
5.3.1 Unit 25
5.3.2 Direction Sense 25
5.3.3 Application 25
5.3.4 Cylinder 26
5.3.5 Position Feedback System 27
5.3.5.1 SSI Binary / SSI Gray Code 27
5.3.5.2 Encoder TTL / Encoder HTL / Encoder RS422 28
5.3.5.3 Analogue Encoder 28
5.3.5.4 EtherCAT Encoder 29

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Series PACHC
5.3.6 Pressure Sensors 30
5.3.7 Force Transducer 31
5.3.8 Valves 32
5.4 Optimization 33
5.4.1 Controller Functions 33
5.4.2 Position Controller 34
5.4.2.1 Controller Structure 34
5.4.2.2 Setting Values 35
5.4.3 Force/Pressure Controller 36
5.4.3.1 Controller Structure 36
5.4.3.2 Setting Values 37
5.4.2 Analogue Inputs 38
5.4.3 Linearization 39
5.4.3.1 Direction-dependent Gain 39
5.4.3.2 Inversion 39
5.4.3.3 Deadband Compensation 39
5.4.3.4 Command Signal Limitation 40
5.4.3.5 Settings 40
5.5 Monitoring and Error Handling 41
5.5.1 Error Response 41
5.5.2 Tracking Error Monitoring 41
5.5.3 Travel Limits 41
5.5.4 Monitoring Maximum Speed 41
5.5.5 Monitoring Maximum Force 41
5.5.6 Dialogue Position Monitoring 42
5.5.7 Settings Force/Pressure Control 43
5.5.8 Dialogue Error History 43
5.6 Saving and Loading Parameters 44
5.7 Typical Procedure for Controller Commissioning 45
6 Programming 46
6.1 PACHC Library 46
6.2 PLCopen Motion Control 46
6.2.1 Status Diagram 47
6.3 General Rules / Timing 47
6.3.1 Access to PACHC Parameters 47
6.3.2 Setting Positioning and Force/Pressure 48
6.3.3 Dynamic Switching from Position to Force/Pressure Control 48
6.3.4 Status of the Outputs 48
6.3.5 Input Parameters 48
6.3.6 Missing Input Parameters 48
6.3.7 Position and Distance 48
6.3.8 Signs 48
6.3.9 Error Handling 48
6.3.10 Behaviour of the “Done” Output 48
6.3.11 Behaviour of the “CommandAborted” Output 48
6.4 Activating the Drive (PACHC_Power) 49
6.5 Acknowledging Errors (PACHC_Reset) 49
6.6 Stop (PACHC_Stop) 50
6.6.1 Stop in Pressure/Force Control 51
6.6.2 Stop: Example 1 51
6.6.3 Stop: Example 2 52
6.6.4 Jerk Description 52
6.6.5 Jerk-free According to VDI2143 52
6.7 Absolute Positioning (PACHC_MoveAbsolute) 53
6.8 Relative Positioning (PACHC_MoveRelative) 54
6.9 Setting Force/Pressure (PACHC_PressureForceAbsolute) 56
6.10 Endless Positioning (PACHC_MoveVelocity) 56
6.11 Direct Positioning (PACHC_DirectDynamicPositioning) 58
6.12 Direct Approaching of a Pressure, Force Target Value (PACHC_DirectDynamicPressureForce) 58
6.13 Positioning with Superimposed Force Positioning (PACHC_PositionForceAbsolute) 59
6.14 Manual Operation (PACHC_Jog) 60
6.15 Manual Operation (PACHC_Jog_Force) 61
6.16 Machine Reference Point/Homing (PACHC_Home) 61
6.17 Running of a Target Prole (PACHC_MoveProle) 62
6.18 Synchronous Run of 2 Axes (PACHC_2Axes_Synchronization) 63
6.19 Synchronous Run of 4 Axes (PACHC_4Axes_Synchronization) 64
6.20 Synchronous Controller for 2 Axes (PACHC_2Axes_SyncController) 65
6.21 Synchronous Controller for 4 Axes (PACHC_4Axes_SyncController) 66
6.22 Writing Analogue Outputs (PACHC_Analog_Out) 67
6.23 Setting Error Reaction (PACHC_SetErrorReaction) 67
6.24 Reading Actual Error Number (PACHC_ReadAxisError) 68
6.25 Reading Actual Device Status (PACHC_ReadStatus) 68
6.26 Reading and Writing of Parameter Groups 39
7 Diagnosis 70
7.1 Error 70
7.2 Error Storage 70
7.3 Firmware Update 70
8 Maintenance/Servicing 72
8.1 General 72
8.2 Servicing 72
8.3 Maintenance 72
8.4 Repairs/Customer Service 72
8.5 Warranty 72
8.6 Taking out of Service 72
9 Ordering Code 73
10 Technical Data 73
11 Accessories 74
12 Appendix 75
Mapping 75
Axis and Device Parameter 76
Error Messages 82
Object List 83
Start Parameters 107
Index 108
ContentContent

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Electrohydraulic Control Module
Series PACHC Preface
2 Introduction
2.1 Device Assignment
This manual is valid for the following device:
• PACHC
2.2 Type Specification Plate PACHC
You will nd the exact description of the device on the type specication plate:
Explanation of the type specification plate
1 EtherCAT logo
2 QR code
3 CE conformity
4 UL certied
5 Manufacturer logo
6 Device name
7 Analogue inputs
8 Analogue outputs
9
Supported interfaces for position feed-
back sensor
10 Max. ambient temperature
11 Supply voltage
12 Pin assignment
13 Manufacturer address
1
2
3
4
5
6
7
8
9
10
11
12
13
Type specication plate on the right-side wall
Label with serial number on aluminum frame
1. Preface
1.1 Nonwarranty Clause
We checked the contents of this publication for compliance with the associated hard- and software. We can, how-
ever, not exclude discrepancies and do therefore not accept any liability for the exact compliance. The information
in this publication is regularly checked, necessary corrections will be part of the subsequent publications.
1.2 Production Site
Parker Hannin Manufacturing Germany GmbH & Co. KG
Industrial Systems Division Europe
Gutenbergstraße 38
41564 Kaarst (Germany)
Tel.: [phone]
Fax: [phone]
Internet: www.parker.com/ISDE
E-Mail: [e-mail]
Parker Hannin Manufacturing Germany GmbH & Co. KG · Location: Bielefeld · Local Court: Bielefeld HRA 15699
Personally liable partner: Parker Hannin GmbH · Location: Bielefeld · Local Court: Bielefeld HRB 35489
Management of Parker Hannin GmbH: Dr.-Ing. Hans-Jürgen Haas, Kees Veraart
Chairman of the Supervisory Board: Dr.-Ing. Gerd Scheffel
1.3 Reference to Online Version
This manual is regularly updated. The latest version is available on our website www.parker.com/ISDE under “Sup-
port”.
1.4 Registered Trademark
Microsoft®, Windows®and the Windows®logo are registered trademarks of Microsoft Corp. in the USA and other
countries. EtherCAT®is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
CODESYS V3©is a product of 3S-Smart Software GmbH.
1.5 Copyright
This instruction manual is proprietary and protected by copyright.
No part of this document may be reproduced or copied in any way or by any means except expressly permitted in
writing by Parker Hannin Manufacturing GmbH & Co. KG.
Preface

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Safety Instructions Hazards
DANGER
A DANGER warning makes you aware of an immediately hazardous situation which will cause a serious or fatal accident if not
observed.
CAUTION
A CAUTION alert makes you aware of a potentially hazardous situation which may cause an accident or damage to this or
other devices if not observed.
NOTE
A NOTE makes you aware of a potentially hazardous situation which may cause damage to this or other devices if not observed.
2.3 Safety Instructions
2.3.1 Target Group of this Operation Manual
This instruction manual contains all information necessary for the use of the described product (control device, con-
trol terminal, software, etc.) according to instructions. It is written for design, project planning, servicing and com-
missioning experts. For proper understanding and error-free application of technical descriptions, instructions for
use and particularly of notes of danger and warning, extensive knowledge of automation technology is compulsory.
2.3.2 Hazard and other Warnings
Please refer to the additional notices which we have marked by symbols throughout this instruction manual. While
some of these notices make you aware of possible dangers, others are intended as a means of orientation. They
are described further down below in descending order of importance.
Every alert and hazard warning is made up as follows:
Type and source of risk
Potential consequences of non-observance
àPreventive measures
2.3.3 General Hazards
The device described in this manual is designed in accordance with the latest technology and is safe in operation.
Nevertheless, the device can entail certain hazards if used improperly or for purposes other than those explicit-
ly intended.
Electronic, moving and rotating components can
• constitute a hazard for body and life of the user, and
• cause material damage
2.3.4 Designated Use
Parker’s products are designed, developed and manufactured for standard industrial use. They must not be used
for any other purposes than the ones specied in the catalogue or the associated technical documentation. Proper
and safe operation depends on the products being transported, stored, lined up, mounted, installed, put into ser-
vice, operated, and serviced correctly. Ambient conditions must be within the admissible limits. Notes and infor-
mation in the associated documentation apply at all times.
The device is designed for operation in electric power drive systems (VDE0160). Motion sequences can be auto-
mated with this device. Several motion sequences can be combined by interconnecting several of these devices.
Mutual interlocking functions must be incorporated for this purpose.
2.3.5 Safety-conscious Working
This device may be operated only by qualied personnel.
Qualied personnel in the sense of these operating instructions consists of:
• Persons who, by virtue to their training, experience and instruction, and their knowledge of pertinent norms,
specications, accident prevention regulations and operational relationships, have been authorized by the of-
cer responsible for the safety of the system to perform the required task and in the process are capable of rec-
ognizing potential hazards and avoiding them (denition of technical personnel according to VDE105 or IEC364),
• Persons who have a knowledge of rst-aid techniques and the local emergency rescue services.
• Persons who have read and will observe the safety instructions.
• Those who have read and observe the manual or help (or the sections pertinent to the work to be carried out).
This applies to all work relating to setting up, commissioning, conguring, programming, modifying the conditions
of utilization and operating modes, and to maintenance work.
This manual and the help information must be available close to the device during the performance of all tasks.
2.3.6 Special Safety Instructions
• Check the correct association of the device and its documentation.
• Never detach electrical connections while voltage is applied to them.
• Safety devices must be provided to prevent human contact with moving or rotating parts.
• Make sure that the device is operated only when it is in perfect condition.
• Implement and activate the stipulated safety functions and devices.
• Operate the device only with the housing closed.
• Make sure that all devices are sufciently xed.
Project planning
• 24 V DC power supply: generate as electrically safely separated low voltage. Suitable devices include split-
winding transformers built in compliance with European Standard EN 60742 (corresponds to VDE 0551).
• Power breakdowns or power fades: the program structure is to ensure that a dened state at restart excludes
all dangerous states.
• Emergency-off installations must comply with EN 60204/IEC 204 (VDE 0113). They must be operative at any
time.
• Safety and precautions regulations for qualied applications have to be complied with.
• Please refer to the notices of warning which, at relevant places, will make you aware of possible sources of
dangerous mistakes or faults.
• Relevant standards and VDE regulations are to be complied with in every case.
• Control elements are to be installed in such a way as to exclude unintended operation.
• Lay control cables such that interference (inductive or capacitive) is excluded if this interference could inuence
controller operation or its functionality.
Maintenance and servicing
• Precautions regulation VBG 4.0 to be observed when measuring or checking a controller after power-up. This
applies to § 8 (Admissible deviations when working on parts) in particular.
• Repairs must be carried out by specially trained Parker staff only. Warranty expires in every other case.
• Only use parts approved of by Parker. Only genuine Parker modules must be used in modular controllers.
• Modular systems: always plug or unplug modules in a power-down state. You may otherwise damage the modules
or (possibly not immediately recognisably!) inhibit their functionality.
• Always dispose of (rechargeable) batteries as hazardous waste.

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Electromagnetic Compatibility Electromagnetic Compatibility
2.4 Electromagnetic Compatibility
Denition
Electromagnetic compatibility is the ability of a device to function satisfactorily in its electromagnetic environment
without itself causing any electromagnetic interference that would be intolerable to other devices in this environment.
Of all known phenomena of electromagnetic noise, only a certain range occurs at the location of a given device.
These kinds of noise are specied in the applicable product standards.
The design and immunity to interference of programmable logic controllers are internationally governed by standard
IEC 61131-2 which, in Europe, has been the basis for EN 61131-2.
Interference emission
Interfering emission of electromagnetic elds, HF compliant to EN 55011, limiting value class A, Group 1
Fitting the controller into earthed metal cabinets and installing lters in the supply lines may produce a shielding
compliant to the above standard.
General notes on installation
As component parts of machines, facilities and systems, electronic control systems must comply with valid rules
and regulations, depending on their eld of application.
General requirements concerning the electrical equipment of machines and aiming at the safety of these machines
are contained in Part 1 of European Standard EN 60204 (corresponds to VDE 0113).
Electrical immission safeguard
To eliminate electromagnetic interference, connect the control system to the protective earth or functional earth
conductor. Practice best cable routing.
Cable routing and wiring
Keep power circuits separate from control circuits:
• DC voltages 60 V ... 400 V
• AC voltages 25 V ... 400 V
Joint laying of control circuits is allowed for:
• shielded data signals
• shielded analogue signals
• unshielded digital I/O lines
• unshielded DC voltages < 60 V
• unshielded AC voltages < 25 V
NOTE
Refer to IEC 61131-4, User's Guideline, for general installation instructions to be complied with to ensure that hardware interface
factors and the ensuing noise voltages are limited to tolerable levels.
NOTE
If the controller is designed for use in residential areas, high-frequency emissions must comply with limiting value class B as
described in EN 55011.
Location of installation
Ensure that temperatures, contaminations, impact, vibration or electromagnetic interference are no impediment to
the installation.
Temperature
Consider heat sources such as general heating of rooms, sunlight, heat accumulation in assembly rooms or con-
trol cabinets.
Contamination
Use suitable casings to avoid possible negative inuences due to humidity, corrosive gas, liquid or conducting dust.
Impact and vibration
Consider possible inuences caused by motors, compressors, transfer lines, presses, ramming machines and ve-
hicles.
Electromagnetic interference
Consider electromagnetic interference from various local sources: motors, switching devices, switching thyristors,
radio-controlled devices, welding equipment, arcing, switched-mode power supplies, converters/inverters.
Special sources of interference
Inductive actuators
Switching off inductances (such as from relays, contactors, solenoids or switching magnets) produces surge volt-
ages. It is necessary to reduce these extra voltages to a minimum.
Throttling elements could be diodes, Z-diodes, varistors or RC elements. Their rating should conform to the speci-
cations provided by the manufacturer or supplier of the actuators.

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Series PACHC Device Description
4.4 Front and Side View
4.5 Connectors
While all external connectors plug in at the front of the unit, the PACHC module connect to the PAC system via the
EtherCAT E-bus interface on the left side. Additional PACHC and PACIO modules can be connected via the right
EtherCAT E-bus interface under the removable cover.
Pin Assignment Alternatively function Assignment Pin
SSI EnDAT
1 AIN_I/U_0+ AIN_I/U_2+ 19
2 AIN_I/U_0- AIN_I/U_2- 20
3 AIN_I/U_1+ AIN_I/U_3+ 21
4 AIN_I/U_1- AIN_I/U_3- 22
5 Supply voltage position feedback system 0 V Supply voltage position feedback system 0 V 23
6Supply voltage position feedback system
5 V / 150 mA
Supply voltage position feedback system
5 V / 150 mA 24
7 Encoder_0_A+ SSI_CLK+ EnDAT_CLK+ Encoder_1_A+ 25
8 Encoder_0_A - SSI_CLK- EnDAT_CLK- Encoder_1_A - 26
9 Encoder_0_B+ SSI_DAT+ EnDAT_DAT+ Encoder_1_B+ 27
10 Encoder_0_B - SSI_DAT- EnDAT_DAT- Encoder_1_B - 28
11 Encoder_0_N+ EnDAT_CNT+ Encoder_1_N+ 29
12 Encoder_0_N - EnDAT_CNT- Encoder_1_N - 30
13 AOUT_I/U0+ AOUT_I/U2+ 31
14 AOUT_I/U0- AOUT_I/U2- 32
15 AOUT_I/U1+ AOUT_I/U3+ 33
16 AOUT_I/U1- AOUT_I/U3- 34
17 L+ 24 VDC L+ 24 VDC 35
18 L- 0V L- 0V 36
Device Description
The PACHC is connected to local analogue sensors like pressure and force sensors and digital position feedback
systems for reading actual values. Hydraulic valves are controlled via the analogue outputs.
Properties:
• Position, force and pressure control for 1-2 axes
• Sampling time 250 µs
• Digital interfaces for position feedback systems (SSI, Encoder TTL/HTL/RS422, EnDAT)
• Inputs: 2 x 0…10 V
optional 2 x 0/4...20 mA
• Outputs: 2 x 0...10 V, -10 V, +10 V
optional 2 x 0/4...20 mA
• Fail-safe storage of all device parameters in Flash
• Library with comprehensive motion functions
4.2 Contents of Package
The PACHC package includes:
• PACHC
• Connector
4.3 Intended Use
The unit is solely permitted for use in fully enclosed control cabinets or rooms. Exhaust heat develops down the
side of unit, i.e. at the aluminium heat sink. Verify that the place of installation is ventilated properly.
4. Product Description
4.1 PACHC
The PACHC is a controller module for high-dynamic and precise control of 1-2 hydraulic axes. It was developed
for operation at the Parker Automation Controller (PAC). The device is an EtherCAT slave and is operated at the
Parker E-Bus. In conjunction with the bus coupler PACIO-400-00 it can be used in a standard EtherCAT network.
3. System Description
3.1 PAC
Parker PAC is a system of control I/O modules for interconnecting the process signals in an EtherCAT network.
3.2 Development Environment CODESYS V3.5
For operation of PACHC, development environment CODESYS 3.5 with Service Pack 16 is required.

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4.6 Indicators and Controls
4.6.1 Indicators
The status LEDs indicate the status of the PACHC module.
EtherCAT Run
Status LED flash code Explanation
Init off Status: Initialising, no data exchange
Pre-Op off/green 1:1 Status: Pre-operational, no data exchange
Safe-Op off/green 5:1 Safe operation, inputs readable
Op green, on Operational, unrestricted data exchange
Device status
Status LED flash code Explanation
Ok green, on No error
Error flashing red Connection error
Start, error red, cont. light Module not initialized
Power supply
Status LED flash code Explanation
On green 24 V DC available
Off off 24 V DC not available
Analogue inputs
Status LED flash code Explanation
Ok green, on No error
Error red Connection error, outside of the permissible value range
Digital position control systems
Status LED flash code Explanation
On green Input signal high
Off off Input signal low
Analogue outputs
Status LED flash code Explanation
On green Analogue output active
Off off Analogue output inactive
Device Description
5. Operation
This chapter describes the conguration and commissioning for the operation of the PACHC on a PAC module.
Operation
5.1 Installation
5.1.1 Mechanical Installation
à PAC120 / PACHC / PACIO modules are intended for mounting rail instal-
lation (DIN EN 50022, 35 mm x 7.5 mm).
To snap on a single module
à Push up the module against the mounting rail from below, allowing the
metal spring to snap in between mounting rail and mounting area as illus-
trated.
à Push the module against the mounting wall until it snaps in.
To interconnect two modules
àAfter snapping on the rst module to the rail, snap on the second module
about 1 cm away towards the right of the rst module.
àPush the second module along the rail towards the rst module until you
hear the locking device snap in.
To disconnect two modules
àPush down the unlock button (see Figure 2) of the module that you wish
to disconnect from the module to the left of it.
àPush both modules away from one another until they are about 1 cm apart.
To take down a single module
àPush the module up and against the metal spring located on the under-
side of the rail guide.
àTip the module away from the rail as shown in the illustration.
àPull the module down and out of the mounting rail.
Figure 1:
Rail mounting of module
1
2
Figure 2:
Uninstalling a module
Unlock
1
2
3

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Installation
5.2 Development Environment CODESYS V3.5
Installing CODESYS V3.5 on the Project Engineering PC
CODESYS V3.5 is based on a CODESYS V3 runtime system and is a device-independent system for programming
control units. It conforms to standard IEC 61131-3 and supports all standardized IEC programming languages plus
the integration of C code routines and object-orientated programming.
In conjunction with runtime system CODESYS Control Win V3 it also allows the use of "multi-device" and "multi-
application" programs. Owing to its component-based architecture, it supports customer-spe-
cic congurations of and extensions to the user interface.
Before installing CODESYS V3.5, please read and take note of the system requirements:
Windows XP / 7 / 8 / 10, appropriate PC hardware matching the Windows version installed.
Installation
5.1.2 Electrical Installation
Earthing
Connect the PACHC modules to earth by attaching the metal housing to functional earth.
Since the functional earth connector dissipates HF currents, it is of utmost importance for the module's noise im-
munity.
HF interference is dissipated from the electronics board to the metal housing. The metal housing therefore needs
to be suitably connected to a functional earth connector.
You will normally have to ensure that
• the connection between module housing and DIN rail conducts well,
• the connection between DIN rail and switching cabinet conducts well,
• the switching cabinet is safely connected to earth.
In special cases, you may attach the earth wire straight to the module.
Attach cable shield here
Connect the DIN rail
to functional earth
M3x5 bolt connection
Note
Earth wires should be short and have a large surface (copper mesh). Refer to http://en.wikipedia.org/wiki/ground_
(electricity) for further details
Module interconnection
The PACHC modules electrically connect by completely pushing the modules together. This automatically con-
nects them to the EtherCAT bus system and supplies power to the EtherCAT communication modules. PAC120 is
always the rst module of a PACHC/PACIO block.
Please note that the power supplied by PAC120 limits the number of PAC modules you may connect to a single block.
Logic Power Supply (24 V DC)
Power to the logic circuitry is supplied through lines L+ and L- of the module plug.
CAUTION
Risk of electric voltage
Supply voltages outside of the admissible range may destroy the unit.
àBefore turning on the supply voltage, verify that it is within the admissible voltage range.
Device Description
Before the IEC 61131-3 development tool CODESYS V3.5 can be used to operate a device, the device and its prop-
erties are to be made known to the runtime system.
A separate plug-in, the Device Repository, provides the local system and your projects with the device denition
management functions. Among other features, it contains commands of category devices which you will normal-
ly nd in the Tools menu.
àOpen the Tools menu and pick Device Repository...
àScreen Device Repository is displayed
àExpand the tree with the name “Control Units (PLC)”
The Device Repository hosts the descriptions of all devices currently installed on the local system and makes the
devices available for programming in CODESYS. Devices are installed in and uninstalled directly from the Device
Repository.
The screen “Device Descriptions Installed” displays the “Name”, “Vendor” and “Version” of every device that is cur-
rently installed. Click on the plus and minus signs to expand or collapse the "branches".

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5.2.1 Installing the Device Description
• 3 Devices must be inserted:
- HydraulicController_ParkerMotion_ETC_Parker.devdesc.xml
- Parker_Drive_ETC_Parker_HydraulicControl1.devdesc.xml
- Parker_Drive_ETC_Parker_HydraulicControl2.devdesc.xml
• If the PACHC is used together with the 3S SoftMotion, the following descriptions must be installed additionally:
- HydraulicControl_CodesysSoftMotion_ETC_Parker.devdesc.xml
- SM3_Drive_ETC_ParkerControl1.devdesc.xml
- SM3_Drive_ETC_ParkerControl2.devdesc.xml
The device can be found under ‘Field buses -> EtherCAT -> Slave -> Parker Hannin – HydraulicControl’
The axes can be found in the tree ‘SoftMotion Drives ->EtherCAT Drives’
Figure: PACHC in Device Repositiory
Installation
5.2.2 Installing Device-specific Libraries
Similar to the device description les, CODESYS keeps libraries in a dedicated repository, i.e. the Library Reposito-
ry in this case. The following device-specic libraries are available for PACHC:
- PKR_PACHC
- SM3_Drive_ETC_Parker_HydraulicControl_Itfs
- SM3 Drive ETC Parker Hydraulic Control
à Open the Tools menu and pick Library Repository
à The Library Repository dialog is displayed
Figure: Library Repository
Click on “Install”... to install a new library in the local system and make it available for use in the programming system.
Browse to the location where your libraries are saved. The default lter is “Compiled Libraries” (*.compiled-library)
which is the format in which libraries are normally made available. Choose the library you wish to install and click
on “Open”. Once installed, the library will appear on the tree “Installed Libraries”.
Installation

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5.2.3 Using the Project Templates
On the Parker website for the PACHC (http://ph.parker.com/us/17581/en/hydraulic-axis-controller-series-PACHC),
project templates for different applications are stored that can be used as starting point for an own program devel-
opment. The templates are stored as project archive and include all necessary device descriptions and libraries.
They are automatically installed when opening so that the steps under 4.2.1 and 4.2.2 are not required.
5.2.4 Adding PACHC (online)
Connected EtherCAT components are recognized automatically by PAC120. For this, the PAC must be connected
to the computer (-> see “Connecting with a PAC”).
àClick with the right mouse button on “EtherCAT Master”.
àSearch device
àA list with connected EtherCAT Slaves is displayed. If a slave is missing, make sure that it is connected and
supplied with power. Click for a new scan again on “Device Scan”.
Installation
• Select Parker Hannin as vendor and select the Hydraulic Controller (PACHC-460-01). Then click “Add Device”.
• The PACHC module will be added to the project tree and the required libraries will be installed. Additionally,
two axes with the name “Parker_HydraulicControl_x” are created and inserted into the object tree below the
device. If you click with the right mouse button on the axes and select “Rename” you can change the name.
These axis names will be used in the application program as reference for the function blocks and for access-
ing to axis objects.
If you want to use the 3S SoftMotion, select “Hydraulic Controller Softmotion drives (PACHC-460-01)” instead of “Hy-
draulic Contoller (PACHC-460-01)”. In this case both axes are named „SM3_Drive_ETC_Parker_HydraulicControl_x”.
5.2.5 Adding PACHC (offline)
EtherCAT devices can also be added ofine.
• Click with the right mouse button on the device “PAC120_BusCoupler”
• Select option “Add Device”
Installation

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5.2.6 Communication
PACHC is completely parameterized and operated via the EtherCAT interface. The device does not have an addi-
tional interface so that all parameters required during the conguration or for the runtime of the IEC program are
exchanged via the bus interface. The application program can access all PACHC parameters via SDOs and PDOs.
All parameters can be stored fail-safe on the device. This requires an additional storage command.
Parameters can be read and written either directly in the development environment via the conguration tool or via
parameter lists (recipes).
The most important input and output values are transmitted cyclically. The default mapping contains all important
values. Values which are not included in the PDO mapping are transmitted as SDOs only if necessary. CAN over
EtherCAT (CoE) is the protocol being used.
PACHC supports device prole CiA 402: Device prole for drives and motion control. In addition to the objects ac-
cording to CiA 402, further manufacturer-specic objects are implemented which are required for the functions of
the Parker library PACHC.
5.2.7 Control Values
For controlling the PACHC, control value like e.g. command values from the PAC or a comparable EtherCAT Mas-
ter controller are cyclically transmitted to the PACHC. These values are marked with the prex Rx.
5.2.8 Status Values
Status values are values which describe a certain status or condition of the device respectively drive. All parame-
ters sent from the PACHC to the EtherCAT Master contain the prex Tx.
Installation
5.3 Configuration
Conguration and setup of the hydraulic axes connected to the PACHC can be done via the visualization page
PACHC_Setup. For this, the visualization from the PKR_PACHC library must be called in a frame on the visualiza-
tion page in the application program. Here the corresponding PACHC device name from the object tree is handed
as parameter to the visualization.
Calling-up the visualization is done via the visualization manager. If not already included in the project, insert it un-
der application into the object tree and add a web visualization (àright mouse button àadd object). Then link the
visualization with the web visualization and enter a name for the website (e.g. pachc_setup).
The conguration interface can be used either within CODESYS or via a standard web browser.
To use the conguration page within CODESYS, connect to the PAC120/320 and open the inserted visualization
from the project tree with a double-click.
If using the web browser, enter the “IP address:8080/Name_of_webpage.htm” to start the conguration page. En-
ter the address of the used PAC120 or PAC320 as IP address.
The IP address can be read out in CODESYS (Device àLog). The factory-set IP address can be found in the cor-
responding PAC device documentation.
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In both cases an active project must be available on the PAC120/320 and the device must be in Status Run. A pro-
gram example can be downloaded as template from the product homepage http://ph.parker.com/us/17581/en/hy-
draulic-axis-controller-series-PACHC.
To start the PACHC conguration, click on the button “Conguration”.
If an existing device conguration shall be changed, it must be read rstly. All parameters are read with the button
“Load from PACHC”. In the following the individual conguration steps are described.
Installation
5.3.1 Unit
All values are displayed, as far as meaningful, in physical units. Metric system with units bar, kg, m, mA, N and V
is used.
5.3.2 Direction Sense
The direction sense of the PACHC was dened that the cylinder extends at increasing displacement signal. For
this purpose, one volume ow is directed to the larger area of cylinder (A) and a volume ow drains from the small-
er area (B). If the larger area of the cylinder (A) is pressurized and the smaller area (B) is relieved, the cylinder gen-
erates a positive force.
In both cases the valve opens P to A and B to T at a positive command signal.
Position signal
0 +
A
PT
B
- +
Motion / Force
Command signal
The direction of the position measuring system and the valve can be changed in the conguration so that the be-
havior corresponds to the above denition.
5.3.3 Application
Application type The application type selects the representation of the hydraulic system in the conguration tool
Max. supply pressure Value describes maximum supply pressure during normal operation. It is used to calculate the max-
imum velocity gain of the valve
Max. mass This value denes the maximum mass including piston rod to be moved by the cylinder. Value is need-
ed for the natural frequency calculation of the axis.
Force-/pressure controller Via this drop-down menu the type of force-/pressure controller is selected. Either force, differential
pressure depending on area ratio or pressure pA or pB can be controlled.
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5.3.4 Cylinder
Piston diameter [mm] Value indicates piston diameter of the cylinder.
Rod diameter A [mm] Value indicates rod diameter on the side with larger cylinder area. For differential cylinders value is zero.
Rod diameter B [mm] Value indicates rod diameter on the side with smaller cylinder area.
Total stroke [mm] Value indicates max. cylinder stroke. The actual value is usually signicantly smaller.
Orientation [°] Value indicates the cylinder orientation angle in degrees. 90° means that the cylinder in a vertical po-
sition and the piston rod (side B) is facing up.
Max. speed [mm/s]
Value indicates the max. permissible cylinder speed. During operation, PACHC is monitoring the set
and actual cylinder speed. If the permissible speed is exceeded by more than 10 %, PACHC triggers
an error reaction.
No. of cylinders
If several cylinders are operated in parallel on an axis, the number of cylinders can be inserted here.
PACHC calculates the total area which is used for the calculation of force based on the number of
cylinders and the indicated diameters. Default value is “1”.
Installation
5.3.5.1 SSI Binary / SSI Gray Code
Resolution Indicates the conversion factor length unit per increment of the position feedback system.
Word length Indicates the telegram length of the encoder in Bit.
Baud rate [kbit/s] Determines the data transmission rate between encoder and PACHC.
Direction sense
Invert direction sense
If the movement direction deviates from the predened direction sense, it can be inverted via the pa-
rameter Invert Direction sense. Value “1” means that inversion is activated.
5.3.5 Position Feedback System
Encoders with the following interfaces can be used as position feedback system:
• SSI Binary
• SSI Gray Code
• Encoder TTL
• Encoder HTL
• Encoder RS422
• EnDat 2.2
• Analog
• EtherCAT (via Master)
Installation

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5.3.5.2 Encoder TTL / Encoder HTL / Encoder RS422
Resolution Indicates the conversion factor length unit per increment of the position feedback system. With en-
coders TTL and HTL, PACHC analyzes all 4 edges of the measuring tracks and calculates the sensor
signal internally with a four times higher resolution.
Direction sense
Invert direction sense
If the movement direction of the position feedback system deviates from the predened direction sense,
it can be inverted via the parameter Invert Direction sense. Value “1” means that inversion is activated.
5.3.5.3 Analogue Encoder
Interface Analogue interface to which the sensor is connected.
Input signal type Signal type of the sensor output signal. Current and voltage sensors can be used.
Position min. [mm] Minimum feedback position
Position max. [mm] Maximum feedback position
Signal min. [mA or V] Minimum feedback system output signal
Signal max. [mA or V] Maximum feedback system output signal
Direction sense
Invert direction sense
If the movement direction of the position feedback system deviates from the predened direction sense,
it can be inverted via the parameter Invert Direction sense. Value “1” means that inversion is activated.
Installation
5.3.5.4 EtherCAT Encoder
It is possible to transmit the actual position also directly via the EtherCAT bus from EtherCAT Master to the PACHC.
Resolution
Indicates the conversion factor length unit per increment of the position feedback system. Typically, the
actual position is transmitted via the EtherCAT bus in unit mm so that resolution = 1 can be selected.
Direction sense
Invert direction sense
If the movement direction of the position feedback system deviates from the predened direction sense,
it can be inverted via the parameter Invert Direction sense. Value “1” means that inversion is activated.
Note
Please note that the actual value is delayed if the actual position is transmitted via the EtherCAT bus. This delay has a negative
impact on the overall dynamic of the control axis and thus on the position and/or force/pressure control.
Installation

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A
PT
B
Up to 4 analogue pressure sensors for both control axes available on the PACHC can be connected to the PACHC.
Optionally the actual pressure value can be transmitted from EtherCAT Master to PACHC via EtherCAT bus.
At constant pressure at one port, a pressure sensor can be omitted and instead a constant pressure value can be
preset.
Logical layout of pressure sensors
Note
Please note that the actual value is delayed if the actual position is transmitted via the EtherCAT bus. This delay has a negative
impact on the overall dynamic of the control axis and thus on the position and/or force/pressure control.
5.3.6 Pressure Sensors
Pressure sensors can be used for pressure or force control. If pressure sensors are used for force control, the result-
ing force is calculated on the basis of cylinder area A and B and the pressures in the cylinder chambers pA and pB.
Up to 4 pressure sensors per axis can be parameterized. The logical assignment is shown in the following gure.
Interface Interface to which the sensor is connected.
Input signal type Signal type of the sensor output signal. Current and voltage sensors can be used.
Pressure min. [bar] Minimum pressure
Pressure max. [bar] Maximum pressure
Sensor signal min. [V or mA] Minimum pressure sensor output signal
Sensor signal max. [V or mA] Maximum pressure sensor output signal
Constant pressure If no sensor is connected but pressure is known and constant, it can be preset as constant value.
Installation
5.3.7 Force Transducer
To achieve a better control accuracy, a force transducer can be used for force control instead of pressure trans-
ducers. If a force transducer is parameterized, it is used for calculation the actual force. In this case the pressures
of the optional pressure transducers are no longer used for the actual force calculation.
The actual force value can be read in either via one of the 4 analogue inputs or via the EtherCAT bus.
Interface Interface to which the sensor is connected.
Input signal type Signal type of the sensor output signal. Current and voltage sensors can be used.
Force min. [kN] Minimum force
Force max. [kN] Maximum force
Sensor signal min. [V or mA] Minimum force transducer output signal
Sensor signal max. [V or mA] Maximum force transducer output signal
Note
Please note that the actual value is delayed if the actual force value is transmitted via the EtherCAT bus. This delay has a nega-
tive impact on the overall dynamic of the control axis and thus on the force control.
Installation

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5.3.8 Valves
For controlling a hydraulic axis, up to 4 valves can be operated at one PACHC. Within the application, various com-
binations are possible. For example, a drive can be controlled with different valves for piston and rod side or for
position and force/pressure control.
The 4 valves can be partitioned arbitrarily on both axes. Valve outputs which are not used can be used as ana-
logue outputs in the IEC program.
Valve type
Type of valve
The following types are available:
• 4/3 directional control valve (+ 100 %=p->A)
• 4/3 directional control valve (+ 100 %=p->B)
• 3/3 directional control valve (+ 100 %=p->A)
• 2/2 throttle valve
• Pressure valve
Command signal
Type of valve command signal
Current and voltage valves with the following input signals can be used:
-10..10 V
0..10 V
4..20 mA
0..20 mA
EtherCAT
Used in position controller The parameter is used to select whether the valve is controlled by the position controller or by the
default value.
Used in pressure controller With this parameter it is selected if the valve is controlled by the position controller or with the de-
fault value.
Default value [%] Command signal of the valve for the uncongured controller.
The valve is controlled with this value if it has not been congured for the active controller.
Valve port A
Value indicates the usage of the port in the application. Available are:
Cylinder port A
Cylinder port B
Supply pressure
Tank
Valve port B
Available are:
Cylinder port A
Cylinder port B
Supply pressure
Tank
Installation
5.4 Optimization
The optimization is used to adjust the control parameters and thus to optimize the movement of the drive. The dis-
play is switched via the button “Optimization”.
The function to be optimized can be selected with the left-side buttons and the corresponding parameter list is
displayed. Clicking the button “Send parameters” sends the parameters to the PACHC. They are not automatical-
ly saved on the device. To save the parameters please use the button “Write to ash”.
5.4.1 Controller Functions
PACHC has a controller each for position and force resp. pressure per axis. The movement commands of the PACHC
library automatically switch between both controllers. The controller command signal is aligned during switching to
accomplish a bumpless transfer at the controller output. The controller sampling time is 250 µs. The following g-
ure provides an overview on the device structure.
CAUTION
Writing the parameters to Flash can have a negative impact on the control performance because the sampling time of the control-
ler may be exceeded for a short period. It is recommended only to save values if both axes are in status “Power off”.
Installation

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5.4.2 Position Controller
5.4.2.1 Controller Structure
The position controller basically consists of a proportional controller with an integrator connected in parallel. To
further reduce the tracking error, feed-forwards for velocity and acceleration are available. In addition, velocity and
acceleration can be used as feedback.
Before feedbacks for velocity and acceleration can be used, signal qualities have to be tested and lter values must
be reasonably adapted. In case of insufcient signal quality, the control becomes unstable.
In typical applications usually only velocity feed-forward, proportional controller and integrator are used whereby
the integrator is often only deployed for ne positioning at small velocities and low tracking errors. If the actual ve-
locity value is lower than the velocity threshold for the I-part and the absolute value of the tracking error value is
smaller than the outer window and larger than the inner window, the integrator command value is changed. Other-
wise the output remains constant.
To prevent the wind-up effect, the integrator command value can be limited by an upper and lower limit.
In addition to the controller parts described above, an additional command value part can be activated in the ap-
plication program. For this purpose, the object ‘PosCtrlDisturbanceOffset’ can be used. It is not included in the
EtherCAT standard mapping and needs to be added manually (àRxPd06).
Via an additional rst-order lter at the controller output, the controller output signal can be additionally ltered to
prevent a high-frequency stimulation of the control loop.
Installation
5.4.2.2 Setting Values
P-Part [%/mm] Proportional controller gain Kp
I-Part [%/(s*mm)] Integral controller gain Ki
Inner window I-Part [mm]
Inner tracking error window for the I-Part
If the absolute value of the tracking error value is smaller than this value, the command value part of
the integrator is not changed anymore.
Outer window I-Part [mm]
Outer tracking error window for the integrator
If the absolute value of the tracking error value is larger than this value, the command value part of
the integrator is not changed anymore.
I-Limit negativ [%] Negative limitation of the command value part of the integrator
The command value is limited downward to this value.
I-Limit positive [%] Positive limitation of the command value part of the integrator
The command value is limited upward to this value.
Vel. threshold [mm/s]
Velocity threshold of the integrator
If the absolute value of the actual velocity value is larger than this value, the command value part of
the integrator is not changed anymore.
Vel. feed-forward [%/(mm/s)] Velocity feed-forward
With this factor the demand velocity is multiplied and added to the total command value of the controller.
Acc. feed-forward [%/(mm/s²)]
Acceleration feed-forward
With this factor the demand acceleration is multiplied and added to the total command value of the
controller.
Vel. feedback [%/(mm/s)]
Velocity feedback
With this factor the actual velocity is multiplied and subtracted from the total command value of the
controller.
Acceleration feedback [%/(mm/s²)]
Acceleration feedback
With this factor the actual acceleration is multiplied and subtracted from the total command value of
the controller.
Filter velocity [µs] Filter time constant of the PT1 lter of the velocity value.
Filter ctrl signal [µs] Filter time constant of the PT1 lter at the controller output.
Installation

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5.4.3 Force/pressure Controller
5.4.3.1 Controller Structure
The force/pressure controller is a PID controller with optional velocity feed-forward and force feed-forward.
Like the position controller, the force controller includes additional limiting functions for the integrator. If the abso-
lute value of the tracking error value is smaller than the outer window and larger than the inner window, the inte-
grator command value is changed. Otherwise the output remains constant. To prevent the wind-up effect, the in-
tegrator command value can be limited by an upper and lower limit.
The velocity feed-forward allows the dynamic force/pressure control of forcibly guided drives (e.g. die cushion).
By means of the actual velocity, the velocity-dependent opening of the valve for the unloaded drive is calculated
in parallel to the controller and added to the total command value. For controls with pressure valves or internally
pressure-controlled pumps the parameter should be set to zero.
Before the velocity feed-forward can be used, signal quality has to be checked and the lter value for the actual
velocity has to be reasonably adapted. In case of insufcient signal quality, the control becomes unstable. If no po-
sition feedback system is connected or congured, the function cannot be used.
The force feed-forward allows the dynamic force/pressure control with proportional pressure valves and internally
pressure-controlled pumps. In contrast to directional control valves, for these components the output pressure is
proportional to the command signal. By means of the demand value, the force feed-forward is calculated in par-
allel to the controller and added to the total command value. For controls with directional control or ow control
valves the parameter should be set to zero.
If a valve is used for position as well as force/pressure control, it may happen in rare cases that the direction sens-
es of the two controllers do not match. By means of the parameter inversion the direction sense of the force/pres-
sure controller can be adapted.
In addition to the controller parts described above, an additional command value part can be activated in the ap-
plication program. For this purpose, the object ‘FCtrlDisturbanceOffset’ can be used. It is not included in the Ether-
CAT standard mapping and needs to be added manually.
Via an additional rst-order lter at the controller output, the controller output signal can be additionally ltered to
prevent a high-frequency stimulation of the control loop.
Installation
5.4.3.2 Setting Values
P-Part [%/N] Proportional controller gain
I-Part [%/(s*N)] Integral controller gain
D-Part [%/(s*N)] Differentiating controller gain
Td [µs] Time constant of the D-Part
This value denes how fast the differentiating command value part of the controller is reduced.
Inner window I-Part [N]
Inner tracking error window for the I-Part
If the absolute value of the tracking error value is smaller than this value, the command value part of
the integrator is not changed anymore.
Outer window I-Part [N]
Outer tracking error window for the integrator
If the absolute value of the tracking error value is larger than this value, the command value part of
the integrator is not changed anymore.
I-Limit negative [%] Negative limitation of the command value part of the integrator
The command value is limited downward to this value.
I-Limit positive [%] Positive limitation of the command value part of the integrator
The command value is limited upward to this value.
Velocity feedback [%/(mm/s)] Velocity feedback
With this factor the actual velocity is multiplied and added to the total command value of the controller.
Force feed-forward [%/N] Force feed-forward
With this factor the demand value is multiplied and added to the total command value of the controller.
Filter control signal [µs] Filter time constant of the PT1 lter at the controller output.
Inversion With this parameter the command value sign of the force/pressure controller can be changed. Value
“1” means inversion is activated.
Installation

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5.4.2 Analogue Inputs
To achieve a better signal quality, the analogue input signals can be ltered and controlled with an offset. Filter and
offset are used in the actual value calculation. The value’AlnX_AlnAcutualValue” includes the unltered value with-
out offset.
The ltering of the analogue input signals cannot replace the braid shield of the sensor cables. Please only use
braided sensor cables to transmit encoder signals to the PACHC.
AN0 Filter [µs] Filter constant of the PT1 lter for analogue input 0 in unit µs.
AN0 Offset [V or mA] Offset to analogue input 0. The unit follows from the selected signal type.
This value is always added to the measured value before calculating the actual value (e.g. pressure pA).
AN1 Filter [µs] Filter constant of the PT1 lter for analogue input 1
AN1 Offset [V or mA] Offset to analogue input 1. The unit follows from the selected signal type.
This value is always added to the measured value before calculating the actual value (e.g. pressure pA).
AN2 Filter [µs] Filter constant of the PT1 lter for analogue input 2.
AN2 Offset [V or mA] Offset to analogue input 2. The unit follows from the selected signal type.
This value is always added to the measured value before calculating the actual value (e.g. pressure pA).
AN3 Filter [µs] Filter constant of the PT1 lter for analogue input 3.
AN3 Offset [V or mA] Offset to analogue input 3. The unit follows from the selected signal type.
This value is always added to the measured value before calculating the actual value (e.g. pressure pA).
CAUTION
Too strong ltering causes an additional delay and phase shifting and can later make the control instable. Only lter the analogue
signals as strong as absolutely necessary.
Installation
5.4.3 Linearization
Linearization follows to the controller output. It comprises a number of functions as briey described below. The lin-
earization functions are separately available for each valve output. All settings have to be set individually for each
valve output used.
5.4.3.1 Direction-dependent Gain
With the direction-dependent gain, the unequal areas of a differential cylinder can be compensated. There are in-
dependent gain factors for moving in positive or negative direction. Depending on the movement direction of the
drive, the controller output is multiplied with the positive or negative gain factor.
The gain factors are available separately for position and force/pressure controllers. Switching between the fac-
tors is done automatically.
5.4.3.2 Inversion
If the direction sense of the valve does not match with the specication to extend the cylinder at a positive valve
command signal, the command signal can be inverted. Depending on the selected valve type, this value is preset.
In addition, the direction sense in the force/pressure controller settings can be changed separately for the force/
pressure controller if the direction senses of position and force/pressure controller do not match.
5.4.3.3 Deadband Compensation
If overlap valves are used and the overlap is not already adjusted by the valve electronics, they can be optimized
by use of the deadband compensation. Overlap and step sizes can be found in the technical data of the valves
used. The threshold is preset and can be adapted to the application.
Installation