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
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 applica-
tion, 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 specifications 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

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Electrohydraulic Control Module
Series PACHC 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 17
5.2 Development Environment CODESYS V3.5 18
5.2.1 Installing the Device Description 19
5.2.2 Installing Device-specic Libraries 20
5.2.3 Using the Project Templates 21
5.2.4 Adding PACHC (o󰀪ine) 22
5.2.5 Communication 23
5.2.6 Control Values 23
5.2.7 Status Values 23
5.3 Conguration 24
5.3.1 Unit 27
5.3.2 Direction Sense 27
5.3.3 Application 27
5.3.4 Cylinder 28
5.3.5 Position Feedback System 29
5.3.5.1 SSI Binary / SSI Gray Code 29
5.3.5.2 Encoder TTL / Encoder HTL / Encoder RS422 30
5.3.5.3 Analogue Encoder 30
5.3.5.4 EtherCAT Encoder 31
5.3.6 Pressure Sensors 32
5.3.7 Force Transducer 33
5.3.8 Valves 34

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5.4 Optimization 35
5.4.1 Controller Functions 35
5.4.2 Position Controller 36
5.4.2.1 Controller Structure 36
5.4.2.2 Setting Values 38
5.4.3 Force/Pressure Controller 38
5.4.3.1 Controller Structure 38
5.4.3.2 Setting Values 39
5.4.4 Analogue Inputs 40
5.4.5 Linearization 41
5.4.5.1 Direction-dependent Gain 41
5.4.5.2 Inversion 41
5.4.5.3 Deadband Compensation 41
5.4.5.4 Command Signal Limitation 42
5.4.5.5 Settings 42
5.5 Monitoring and Error Handling 43
5.5.1 Error Response 43
5.5.2 Tracking Error Monitoring 43
5.5.3 Travel Limits 43
5.5.4 Monitoring Maximum Speed 43
5.5.5 Monitoring Maximum Force 43
5.5.6 Dialogue Position Monitoring 44
5.5.7 Settings Force/Pressure Control 45
5.5.8 Dialogue Error History 45
5.6 Commissioning 46
5.7 Saving and Loading Parameters 49
5.8 Typical Procedure for Controller Commissioning 50
6 Programming 51
6.1 PACHC Library 51
6.2 PLCopen Motion Control 53
6.2.1 Status Diagram 53
6.3 General Rules / Timing 53
6.3.1 Access to PACHC Parameters 53
6.3.2 Setting Positioning and Force/Pressure 54
6.3.3 Dynamic Switching from Position to Force/Pressure Control 54
6.3.4 Status of the Outputs 54
6.3.5 Input Parameters 54
6.3.6 Missing Input Parameters 54
6.3.7 Position and Distance 54
6.3.8 Signs 54
6.3.9 Error Handling 54
6.3.10 Behaviour of the “Done” Output 54
6.3.11 Behaviour of the “CommandAborted” Output 54
6.4 Activating the Drive (PACHC_Power) 55
6.5 Acknowledging Errors (PACHC_Reset) 55
6.6 Stop (PACHC_Stop) 56
6.6.1 Stop in Pressure/Force Control 57
6.6.2 Stop: Example 1 57
6.6.3 Stop: Example 2 58
6.6.4 Jerk Description 58
6.6.5 Jerk-free According to VDI2143 58
Content

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Series PACHC
6.7 Absolute Positioning (PACHC_MoveAbsolute) 59
6.8 Relative Positioning (PACHC_MoveRelative) 60
6.9 Setting Force/Pressure (PACHC_PressureForceAbsolute) 62
6.10 Endless Positioning (PACHC_MoveVelocity) 62
6.11 Direct Positioning (PACHC_DirectDynamicPositioning) 64
6.12 Direct Approaching of a Pressure, Force Target Value (PACHC_DirectDynamicPressureForce) 64
6.13 Positioning with Superimposed Force Positioning (PACHC_PositionForceAbsolute) 65
6.14 Manual Operation (PACHC_Jog) 66
6.15 Manual Operation (PACHC_Jog_Force) 67
6.16 Machine Reference Point/Homing (PACHC_Home) 68
6.17 Running of a Target Prole (PACHC_MoveProle) 69
6.18 Adjusting the prole of the actual position to the target prole (PACHC_MoveProleAdjustment) 69
6.19 Traversing a given pressure/force prole (PACHC_PressureForceProle) 70
6.20 Adjusting the prole of the actual force to the target prole
(PACHC_PressureForceProle_Adjustment) 70
6.21 Synchronous Run of 2 Axes (PACHC_2Axes_Synchronization) 71
6.22 Synchronous Run of 4 Axes (PACHC_4Axes_Synchronization) 72
6.23 Synchronous Controller for 2 Axes (PACHC_2Axes_SyncController) 73
6.24 Synchronous Controller for 4 Axes (PACHC_4Axes_SyncController) 74
6.25 Writing Analogue Outputs (PACHC_Analog_Out) 75
6.26 Setting Error Reaction (PACHC_SetErrorReaction) 75
6.27 Test movement between 2 positions, with set speed and waiting time (PACHC_TestMovement) 76
6.28 Test movement between 2 forces or pressures, with dened force/pressure gradient and waiting time
(PACHC_TestMovement_Force) 77
6.29 Calculates the minimum, maximum and average position of both axes
(PACHC_2Axes_CalcPosition) 78
6.30 Calculates the minimum, maximum and average position of the four axes
(PACHC_4Axes_CalcPosition) 78
6.31 Reading Actual Error Number (PACHC_ReadAxisError) 79
6.32 Reading Actual Device Status (PACHC_ReadStatus) 79
6.33 Reading and Writing of Parameter Groups 80
7 Diagnosis 81
7.1 Error 81
7.2 Error Storage 81
7.3 Firmware Update 81
8 Maintenance/Servicing 83
8.1 General 83
8.2 Servicing 83
8.3 Maintenance 83
8.4 Repairs/Customer Service 83
8.5 Warranty 83
8.6 Taking out of Service 83
9 Ordering Code 84
10 Technical Data 84
11 Accessories 85
12 Appendix 86
Mapping 86
Axis and Device Parameter 87
Error Messages 93
Object List 94
Start Parameters 119
Index 120
Content

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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: Ulrich Jochem, Achim Kohler, Kirsten Stenvers, Andreas Paulsen
Chairman of the Supervisory Board: Dr.-Ing. Gerd Sche󰀨el
1.3 Reference to Online Version
This manual is regularly updated. The latest version is available on our website www.parker.com/ISDE under “Support”.
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 Beckho󰀨 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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Series PACHC Preface
2 Introduction
2.1 Device Assignment
This manual is valid for the following device:
• PACHC
2.2 Type Specication Plate PACHC
You will nd the exact description of the device on the type specication plate:
Explanation of the type specication plate
1 EtherCAT logo
2 QR code
3 CE conformity
4UL 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

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Electrohydraulic Control Module
Series PACHC Safety Instructions
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 explicitly in-
tended.
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. Prop-
er 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 informa-
tion 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.

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Series PACHC Hazards
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, spec-
ications, accident prevention regulations and operational relationships, have been authorized by the o󰀩cer re-
sponsible for the safety of the system to perform the required task and in the process are capable of recogniz-
ing 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 su󰀩ciently xed.
Project planning
• 24 V DC power supply: generate as electrically safely separated low voltage. Suitable devices include split-wind-
ing 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-o󰀨 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 dan-
gerous 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 sta󰀨 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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Electrohydraulic Control Module
Series PACHC 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 con-
ductor. 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 de-
scribed in EN 55011.

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Electrohydraulic Control Module
Series PACHC Electromagnetic Compatibility
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 vehicles.
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 o󰀨 inductances (such as from relays, contactors, solenoids or switching magnets) produces surge voltag-
es. 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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Electrohydraulic Control Module
Series PACHC 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 Park-
er 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 actual Service Pack is required. The ver-
sion to be used is available for download on the PACHC product page.

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Electrohydraulic Control Module
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 connection to a PAC120/PAC340 system is 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
row 0 row 1
SSI EnDAT
0 AIN_I/U_0+ AIN_I/U_2+ 0
1 AIN_I/U_0- AIN_I/U_2- 1
2 AIN_I/U_1+ AIN_I/U_3+ 2
3 AIN_I/U_1- AIN_I/U_3- 3
4
Supply voltage position feedback system 0 V Supply voltage position feedback system 0 V 4
5 1) Supply voltage position feedback system
5 V / 150 mA
Supply voltage position feedback system
5 V / 150 mA 5 1)
6 Encoder_0_A+ SSI_CLK+ EnDAT_CLK+ Encoder_1_A+ 6
7 Encoder_0_A - SSI_CLK- EnDAT_CLK- Encoder_1_A - 7
8 Encoder_0_B+ SSI_DAT+ EnDAT_DAT+ Encoder_1_B+ 8
9 Encoder_0_B - SSI_DAT- EnDAT_DAT- Encoder_1_B - 9
10 Encoder_0_N+ EnDAT_CNT+ Encoder_1_N+ 10
11 Encoder_0_N - EnDAT_CNT- Encoder_1_N - 11
12 AOUT_I/U0+ AOUT_I/U2+ 12
13 AOUT_I/U0- AOUT_I/U2- 13
14 AOUT_I/U1+ AOUT_I/U3+ 14
15 AOUT_I/U1- AOUT_I/U3- 15
L+ L+ 24 VDC L+ 24 VDC L+
L- L- 0V L- 0V L-
1) The 5V supply voltage for the position control is only present at pins 0-5 and 1-5 if a digital encoder is congured.

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Series PACHC
4.6 Indicators and Controls
4.6.1 Indicators
The status LEDs indicate the status of the PACHC module.
EtherCAT Run
Status LED ash code Explanation
Init o󰀨 Status: Initialising, no data exchange
Pre-Op o󰀨/green 1:1 Status: Pre-operational, no data exchange
Safe-Op o󰀨/green 5:1 Safe operation, inputs readable
Op green, on Operational, unrestricted data exchange
Device status
Status LED ash code Explanation
Ok green, on No error
Error ashing red Connection error
Start, error red, cont. light Module not initialized
Power supply
Status LED ash code Explanation
On green 24 V DC available
O󰀨 o󰀨 24 V DC not available
Analogue inputs
Status LED ash code Explanation
Ok green, on No error
Error red Connection error, outside of the permissible value range
Digital position control systems
Status LED ash code Explanation
On green Input signal high
O󰀨 o󰀨 Input signal low
Analogue outputs
Status LED ash code Explanation
On green Analogue output active
O󰀨 o󰀨 Analogue output inactive
Device Description

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Series PACHC
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 installa-
tion (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 met-
al spring to snap in between mounting rail and mounting area as illustrat-
ed.
à Push the module against the mounting wall until it snaps in.
To interconnect two modules
à After snapping on the rst module to the rail, snap on the second module
about 1 cm away towards the right of the rst module.
à Push the second module along the rail towards the rst module until you
hear the locking device snap in.
To disconnect two modules
à Push 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 underside
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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Electrohydraulic Control Module
Series PACHC
Installation position
The mounting rail is mounted horizontally, the socket connectors of the modules face forward. To ensure su󰀩cient
ventilation through the convection slits of the modules, the minimum distance of 20 mm upwards and 35 mm down-
wards to neighbouring units and control cabinet surfaces must not be undercut. The lateral distance to third-party
devices and control cabinet surfaces must not be less than 20 mm.
NOTE
Order of modules in the PAC system
To ensure smooth functioning of the entire PAC system, arrange the PAC modules according to their E-bus load so that the mo-
dules with the greatest E-bus load are arranged directly after the head module (bus coupler or controller). Observe the maximum
bus load of the head module.
Installation

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Electrohydraulic Control Module
Series PACHC 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 immunity.
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
CAUTION
Dangerous failures due to incorrect power supply
The unit can be damaged or destroyed by an incorrect voltage supply and dangerous failures can occur.
Measures to avoid:
àFor the 24 V DC supply of controllers or bus couplers, we recommend using PELV/SELV-capable power supply units in ac-
cordance with EN50178 or EN60950-1.
à If the power supply is earthed (PELV system), only an earth connection with GND is permissible. Earthing variants in which the
earth is connected to +24 V are not permitted.
àFurthermore, you must note that only a maximum voltage U max. < 33 V may act on these modules, even in the event of a
fault. If you cannot exclude this risk, external fusing of the power supply is mandatory..
à To ensure trouble-free operation, the supply lines of a PAC module block must be laid in a star conguration with the shortest
possible lines from a central supply connection.
5.1.2 Electrical Installation

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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-ap-
plication" programs. Owing to its component-based architecture, it supports customer-speci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
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 normally
nd in the Tools menu.
àOpen the Tools menu and pick Device Repository...
àScreen Device Repository is displayed
à Expand 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".
Module interconnection
The PACHC modules electrically connect by completely pushing the modules together. This automatically connects
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.

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The corresponding tree structure with the associated devices is already precongured in the templates.
5.2.1 Installing Device Descriptions and Libraries via Package
The required device descriptions and libraries as well as sample programmes and application templates for the
PAC120 and other PAC modules such as the PACHC are combined in a package and can be installed together. This
simplies handling considerably compared to the steps in 6.1.1 and 6.1.2.
For installation, the package manager must be available within CODESYS and must be installed from the CODE-
SYS homepage if necessary.
àOpen the 'Package Manager' in the 'Tools' menu.
àClick on 'Install‘
à Select the package le on your computer and click on Open.
The PAC120+PACHC package can be found on the product homepage
http://www.parker.com/PAC120
The sample programs (templates) can be opened under "New Project" after the package has been installed.

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5.2.2 Installing Device-specic 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
àOpen 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