Parker PAC User manual

PARKER AUTOMATION CONTROLLER
PAC Installation Guide
© 2014 Parker Hannifin Corporation
All Rights Reserved

IMPORTANT USER INFORMATION
Trademark Information
The Programmable Logic Controller®and PLC®are registered trademarks of the Allen-Bradley Company
(Rockwell Automation).
EtherCAT®is a registered trademark and a patented technology of Beckhoff Automation GmbH, Germany.
CoDeSys®is a registered trademark of 3S-Smart Software Solutions GmbH.
Windows®is a registered trademark of Microsoft® Corporation.
PROFINET®is a registered trademark of PROFIBUS and PROFINET International (PI).
MODBUS®is a registered trademark of Modbus Organization, Inc.
Ethernet/IP is a trademark of Open DeviceNet Vendor Association (ODVA)
SD is a trademark or registered trademark of SD-3C, LLC in the United States, other countries or both.

Important User Information
Please read and follow all safety information for the Parker Automation Controller (PAC), including the
warning and caution statements in this guide, before installing or operating the system.
Safety Information
WARNING: The PAC is used to control electrical and mechanical components of
motion control systems in industrial environments. To avoid serious
injury or damage to equipment, test the motion system for safety under
all potential conditions.
WARNING: The PAC and PAC Input\Output (PACIO) Modules are not fault-tolerant
and are not designed or intended for any use in any systems, machines,
or applications where failure or fault of any kind of the Products could
reasonably be seen to lead to death or serious bodily injury of any
these Products in High Risk Use. High Risk Use is STRICTLY PROHIBITED.
WARNING: The PAC contains no user-serviceable parts. To avoid personal injury or
damage to the product, do not attempt to open the case or to replace any
internal component of the PAC, Modules, or accessories.
WARNING: USER RESPONSIBILITY- Failure or improper selection or improper use
of the products described herein or related items can cause death,
personal injury and property damage.

IMPORTANT USER INFORMATION
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 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.

Regulatory Statements
Statement of Compliance
Product Type Parker Automation Controller (PAC), PACIO Modules and accessories
The PAC Controller complies with the protection requirements set up by the European Community (EC)
Electromagnetic Compatibility (EMC) Directive 2004/108/EC as defined by the Product Specific Standard
EN/IEC 61326-1, which includes both emissions and immunity requirements and the power line emissions
standards EN/IEC 61000-3-2, Limits for Harmonic Current Emissions and EN/IEC 61000-3-3, Limits of
Voltage Fluctuations and Flicker in Low Voltage designated for Equipment used in Industrial Locations.
Compliance of the PAC Controller is demonstrated by the application of the following standards:
2006/95/EC Low Voltage Directive when installed, operated, and maintained as intended
2004/108/EC Electromagnetic Compatibility when installed, operated, and maintained as intended
EN61010-1 Safety Requirements for Electrical Equipment for Measurement, Control and
Laboratory use, Part 1 General Requirements
EN61010-2-201:2013 Safety Requirements for Electrical Equipment for Measurement, Control,
and Laboratory use Part 2-201: Particular Requirements for Control Equipment
The PACIO Modules and accessories are sold as complex components to professional assemblers. The
Parker Installation Guidelines described in this document offer information regarding how to install the
PAC in a manner most likely to minimize the effects of drive emissions and to maximize the immunity of
the PAC from externally generated interference. Compliance of the PACIO Modules is demonstrated by the
application of the following standard:
2004/108/EC Electromagnetic Compatibility when installed, operated, and maintained as intended.
In order to comply with the EMC Directive for installation, the PAC system must meet the following
criteria:
The PAC must be mounted in a suitable tool-accessed fire enclosure.
PAC input power is rated at: 24 VDC (-15%/+25%) SELV Limited Energy, 1.2 A, 29W. External power
to the PAC must be provided by a Class 2 power source. For customer convenience, Parker offers
an AC-input, Model PS-60W, Class 2, 24VDC power supply, which is available for purchase, to
provide power to the PAC and PACIO Modules.

IMPORTANT USER INFORMATION
Underwriters Laboratories Approval
The PAC Controller has been evaluated and complies with UL61010-1 and UL61010-2-201 standards (UL
File E243373). In order to obtain Underwriters Laboratories (UL61010-1/IEC61010-2-201) approval for the
installation, the product must meet the following criteria:
The PAC must be mounted in a suitable tool accessed, fire enclosure.
PAC input power is rated at: 24 VDC (-15%/+25%) SELV Limited Energy, 1.2 A, 29W. External power
to the PAC must be provided by a Class 2 power source. For customer convenience, Parker offers
an AC-input, Model PS-60W, Class 2, 24VDC power supply, which is available for purchase, to
provide power to the PAC and PACIO Modules.
Note: The PAC Controller has been evaluated to UL61010-2-201 and complies with the same level of
The PACIO Modules have been evaluated and complies with the UL508 standard (UL File E243373).
WARNING: If PAC system is used in a manner not specified by Parker, the protection
provided by the equipment may be impaired.

Contents
Trademark Information..................................................................................................................................2
Important User Information...........................................................................................................................3
Contents..........................................................................................................................................................7
About This Guide.............................................................................................................................................9
CHAPTER 1: Product Overview ...........................................................................................................11
Product Description......................................................................................................................................12
Product Features..........................................................................................................................................13
CHAPTER 2: Installation .....................................................................................................................19
Checking Your Shipment..............................................................................................................................20
Installation Overview ....................................................................................................................................22
Installation Guidelines..................................................................................................................................23
Mounting the Controller...............................................................................................................................27
Removing the Controller..............................................................................................................................28
Attaching Cables...........................................................................................................................................32
CHAPTER 3: System Start-up and Configuration...............................................................................33
Overview of System Start-up........................................................................................................................34
Powering the PAC.........................................................................................................................................34
Configuring the Network and System Settings...........................................................................................41
Configuring the Compax3 EtherCAT slave node.........................................................................................57
Downloading and Uploading a Project to the PAC......................................................................................59
Programming your Xpress HMI in the PAC.................................................................................................64
CHAPTER 4: PACIO Modules ...............................................................................................................69
PACIO Module Overview...............................................................................................................................70
PACIO-400-00 - Bus Coupler 3A..................................................................................................................71
PACIO-450-02 - DI16/DO8 1A.......................................................................................................................74
PACIO-450-03 - DI16/DO16 1ms/0.5A .........................................................................................................77
PACIO-450-05 - DI8/DO8 1ms/0.5A .............................................................................................................79
PACIO-450-13 - DI16/DO16 1ms/0.5A LS (Sinking).....................................................................................81
PACIO-451-02 - DI32 1ms............................................................................................................................83
PACIO-451-03 - DI16 1ms............................................................................................................................85
PACIO-452-01 - DO16 0.5A...........................................................................................................................87
PACIO-452-02 - DO8 1A ...............................................................................................................................89
PACIO-441-01 - AI4-mA 12 Bit.....................................................................................................................91
PACIO-441-02 - AI4/8-VDC 13 Bit................................................................................................................97
PACIO-443-06 - AI8 Thermocouple 16 Bit.................................................................................................102
PACIO-442-02 - AO4-VDC/mA 12 Bit.........................................................................................................107
PACIO-443-01 - AI4-Pt/Ni100 16 Bit..........................................................................................................113
PACIO-443-03 - AI4-Pt/Ni1000 16 Bit........................................................................................................113
PACIO-454-01 - Counter/Enc.....................................................................................................................118

CONTENTS
PACIO-455-03 - PROFIBUS-DP-Slave.......................................................................................................136
PACIO-400-02 - Extender 2 Port................................................................................................................145
PACIO-411-00 - Power Distribution 2 x 16................................................................................................148
PACIO Shield Connection Terminal Block.................................................................................................149
PACIO Connections to Parker Sensors .....................................................................................................151
PAC with P8S sensors................................................................................................................................151
P8S Global Drop-In Solid State Sensors ...................................................................................................152
P8S Mini-Global Drop-In Solid State Sensors...........................................................................................153
PAC with 400XR series ...............................................................................................................................155
PAC with 400LXR........................................................................................................................................157
CHAPTER 5: Communication Interfaces (Optional).........................................................................159
Ethernet/IP Overview..................................................................................................................................160
PROFINET Overview ...................................................................................................................................169
Configuration of PROFINET Communications Module.............................................................................172
CHAPTER 6: Troubleshooting ...........................................................................................................177
Troubleshooting Overview..........................................................................................................................178
LED Status Indicators.................................................................................................................................178
EtherCAT Connection.................................................................................................................................180
Ethernet Connection...................................................................................................................................181
USB Troubleshooting .................................................................................................................................182
Flashback Utility.........................................................................................................................................182
Push Button................................................................................................................................................183
PROFINET Module......................................................................................................................................183
Secure Digital (SD) Card ............................................................................................................................185
Log Files......................................................................................................................................................185
I/O Modules.................................................................................................................................................186
HDMI Connector.........................................................................................................................................186
Real Time Clock (RTC)................................................................................................................................186
APPENDIX A: PAC System Specifications.........................................................................................189
Controller Specifications............................................................................................................................190
PACIO Technical Data ................................................................................................................................194
APPENDIX B: Additional Information ...............................................................................................195
Terms and Acronyms .................................................................................................................................196
Controller Options......................................................................................................................................197

About This Guide
This installation guide is intended for those who are responsible for installing, configuring, and
troubleshooting programmable logic devices and their associated software and accessories.
Version History
This table describes the history of changes to this user guide.
Version History
Date
Change Description
November 2014
Original Version A
Revision B
April 2017
Added a note about PACIO installation order (pg 30)
Updated Run/Stop LED Color descriptions (pg 40 & 179)
Updated EtherCAT_Master Task defaults for PAM version 1.3.0. (pg 49)
Added Opening and Upgrading a PAM 1.2.1 project in PAM 1.3.0 (pg 62 -63)
Correct typo in the PAC product page link (pg 68)
Added PACIO AI8 Thermocouple 16 Bit module information (pg 102-106)
Updated PACIO-442-02 chapter with descriptions of changes to this module. (pg 108)
Updated the Set Counter Range section of PACIO-454-01 (pg 131)
Modified PACIO Headings and Table formats. (pg 71-150)
On PACIO modules, changed Safe Op LED flashing from 3:1 to 5:1 (pg 71-150)
Added Ethernet/IP Scanner example (pg 160 161)
Update the SD card note from 4Gb to 32Gb (pg 185)
Assumptions of Technical Experience
Parker Hannifin Corporation assumes you are qualified in the servicing of industrial control systems, and
trained in recognizing hazards in products with hazardous energy levels. To install and troubleshoot the
PAC, you should have a fundamental understanding of the following:
Electronic concepts such as voltage, current, and switches
Mechanical motion control concepts such as inertia, torque, velocity, distance, and force
Product Naming
This guide describes the following products:
Parker Automation Controller (PAC): This product is also known as the PAC or Controller.
PACIO Modules: These modules are also called I/O Modules.
PAC System: The combination of the PAC and PACIO Modules.

ABOUT THIS GUIDE
10 Parker Automation Controller Installation Guide
Notes, Cautions, and Warnings
This guide uses notes, cautions, and warnings throughout the text to draw your attention to information
that is especially important or useful.
WARNING: A warning provides information about a potential for property damage,
personal injury, or death.
CAUTION: A caution provides information intended to help prevent malfunction of
the product or damage to the product hardware or software.
NOTE: A note provides information intended to help you make the best use of your product from
Parker Hannifin Corporation.

CHAPTER 1:
Product Overview

PRODUCT OVERVIEW
12 Parker Automation Controller Installation Guide
Product Description
The Parker Automation Controller (PAC) is a specialized control device with programmable software
designed to automate high-speed, electromechanical processes such as those involved in operating
assembly line equipment. The PAC is engineered to offer a wide variety of input/output arrangements for
fast-motion control, while withstanding the temperature ranges, vibrations, and electrical noise of
industrial environments.
The PAC features a modular design that makes it a highly flexible solution. The PAC connects to a series
of PACIO Modules, which you choose based on the requirements of your specific application. The selection
of PACIO Modules includes a bus coupler, a variety of digital or analog input/output modules, a counter,
temperature modules, and interface modules.
The PAC also accommodates connections to remote I/O Modules, industrial control networks, terminals,
factory displays, and Internet-connected devices such as PCs, notebooks, and even smart phones.
The PAC includes ports for Ethernet and EtherCAT communications. For applications requiring additional
communication capabilities, customers can order the PAC with an optional communication protocol, such
as PROFINET or Ethernet/IP.
The PAC operating system and runtime software reside on a standard Secure Digital (SD) memory card
inserted into a slot at the top of the PAC. LED indicators on the PAC front panel help you to monitor and
its installation requires only a small screwdriver.
Product training videos are available on our website. These include videos on: Quick Start, Software
Introduction and Configuration, as well as other topics.
Discrete Logic Capabilities: The PAC incorporates an internal, high-speed EtherCAT bus (E-Bus) that can
communicate to locally attached I/O Modules for discrete control and sensing. In addition, the PAC
incorporates an external EtherCAT RJ45 connector for connection of EtherCAT motor drives, remote
discrete I/O (via EtherCAT Bus Couplers) racks or other miscellaneous EtherCAT sensors, and devices.
Motion and 3D Coordinated Motion: The PAC offers two levels of motion control software utilizing
IEE1388 distributed clocks one for simple motion and another for advanced CNC. An external EtherCAT
connector provides communications to up to 32 axes of EtherCAT motor drives.
Visualization: The PAC offers two options for visualization. For complete HMI capabilities, the PAC
connects via MODBUS Stations with the award winning Interact Xpress software.
The MODBUS communication driver comes standard with each PAC system. The PAC also offers a Web
visualization option that allows users to visualize project screens in a web browser.
Communication Interface Protocols: The PAC offers several options for communications to external
devices. The PAC comes standard with MODBUS TCP Master and Slave capabilities. The PAC has an
optional Ethernet/IP option to produce tags to and Allen Bradley PLC. The PAC also offers a PROFINET
Slave option via a communication module.

Product Features
Overall, the PAC System consists of the Controller, PACIO Modules, and an optional communication
module. The following sections highlight the various features of the PAC.
Features of the PAC and PACIO Modules
Number
Feature Name
Description
1
PAC Controller
The main control unit of the PAC
2
PACIO Modules
Series of plug-in PACIO Modules
3
Communication Module
(optional)
Optional PROFINET Slave Communication module

PRODUCT OVERVIEW
14 Parker Automation Controller Installation Guide
PAC Features
Number
Feature Name
Description
1
Power Connector
Connector for input power, +24VDC nominal.
2
Ethernet Ports
Two standard RJ45 connectors for LAN communications.
3
Ethernet LEDs
Two LEDs on each port indicate network connectivity and link status.
4
EtherCAT Port
Single RJ45 connector, provides EtherCAT connectivity.
5
EtherCAT LEDs
- indicate internal
and external EtherCAT network status and bus link/activity.
6
System Status LEDs
3 LEDs ( P , RUN/S , E ) indicate the system status
7
USB Ports
Dual standard USB 2.0 ports, type A
8
SD Card
Parker removable SD (or SDHC) memory card
9
Button
Push button used for logging the IP address
10
HDMI Connector
Not Functional, for Factory Use Only
11
Communication Module
Optional PROFINET communication module
12
E-Bus Connector
Provides EtherCAT connectivity for local PACIO Modules
13
I/O Module(s)
Series of plug-in PACIO Modules

PACIO Module Features
For the basic layout of the PACIO Modules see the illustration below. The PACIO Modules consist of a
plastic housing and an internal aluminum profile with an integral mechanism to snap the Module to a
35mm DIN rail. The PACIO Modules differ from one another in their functionality, connectors and
indicators.
Number
Description
1
Ventilation slots
2
Earth ground bar for attachment of Shield Connection Terminal Block
3
I/O signal state indicators (LEDs)
4
Module unlock button
5
User label for module identification
6
Grip for module removal
7
Status LEDs
8
I/O wiring connector
9
Module lock and E-Bus connector
10
DIN rail mount and Earth ground connection
8
Status LEDs
Status LEDs
Status LEDs
Status LEDs
Status LEDs
Status LEDs
Status LEDs
Status LEDs
Status LEDs
Status LEDs
Status LEDs

PRODUCT OVERVIEW
16 Parker Automation Controller Installation Guide
Ethernet Ports
The PAC provides two Gigabit Ethernet ports with full duplex operation at 10/100/1000 Mb/s and half
duplex operation at 10/100 Mb/s. Both ports provide auto MDI, MDI-X crossover support at all speeds. The
RJ45 connectors provide standard Speed and Link/Activity LEDS. Both ports are ESD-protected.
EtherCAT Port
The PAC provides a single, ESD-protected EtherCAT port that operates at 100Mb/s. It features an RJ45
connector as well as three LEDs that indicate the status of the connection. See EtherCAT Status LEDs in
the Troubleshooting chapter for more information on the meaning of the LEDs.
EtherCAT is one of the fastest and most powerful Ethernet-based fieldbus systems available. For example,
EtherCAT can achieve speeds that allow it to address 1,000 I/Os in 30 μs. Its flexible topology and simple
configuration make it ideally suited to control extremely fast processes. Its interconnections among the
PAC at one end, and both the I/O Modules and drives at the other, are as fast as those of a backplane bus.
An EtherCAT-connected I/O bus acts much like centralized control systems, overcoming the issue of bus
transfer times that burden conventional fieldbus systems.
LED Indicators
In addition to the Ethernet and EtherCAT LEDs, the PAC has three LEDS that indicate the state of the
system. LED Status Indicators The multicolor Power LED indicates that the 24V input and all
internal power rails are operational. The multi-color Run/Stop LED indicates the status of the runtime
system. The red Error LED indicates that the runtime system has detected a problem.
USB
The PAC provides two USB 2.0 compliant ports to connect USB Flash drives. Both ports are ESD protected
and have over-current shutdown at loads greater than 500mA (combined, both ports).
SD Card
The PAC is equipped with a 2GB Secure Digital (SD) card (minimum capacity). This card contains the OS,
runtime application, and all projects. Any additional spare or replacement SD cards (part number 33-
026611-01) are recommended to be purchased directly from Parker or a Parker distributor.
Button
The PAC features a button that logs the current IP address of the controller. For more information, see
Push Button
Optional Communication Module
The PAC includes the option for installation of a communication module that is factory configured as a
PROFINET slave. This fully enclosed module snaps onto a carrier board that is, in turn, connected to the
PAC via PCI Express.

PACIO Modules
The PACIO Modules are attached to the PAC Controller to process input and output signals and
communications from the Controller to each of the Modules is via an internal EtherCAT E-Bus network.
The first PACIO Module plugs into the E-Bus connector on the PAC Controller, and each additional Module
plugs in to the proceeding Module, making a chain of up to 20 interconnected Modules. You choose from a
variety of PACIO Modules to add, based on the requirements of your specific application. The selection of
PACIO Modules consists of several different types including a variety of digital or analog input/output
modules, a counter/encoder module, temperature modules, interface modules, and a bus coupler (for
connecting additional PACIO Modules).
Internally, the PAC converts twisted pair EtherCAT to LVDS EtherCAT (E-Bus) and also provides the
module power required by the PACIO Modules. At the end of the modular devices, the connection between
the forward and return lines is automatically closed. This allows an EtherCAT bus coupler to be added to
the external EtherCAT RJ45 connector to provide for additional local or remote PACIO Modules or motor
drives.

CHAPTER 2:
Installation

INSTALLATION
20 Parker Automation Controller Installation Guide
Checking Your Shipment
Use the following steps to check your PAC shipment. Note that PACIO Modules may be shipped in
packaging that is separate from the PAC Controller.
Remove all items from the packaging.
Confirm that you have received each item listed in the table below.
Technical Assistance from
Parker Hannifin in the Troubleshooting chapter of this guide.
PAC Ship Kit
Part Name
Part Number
Parker Automation Controller
PAC320-xxxxx-xx
SD Card
33-026611-01
DC Power Input Connector,
3-Pin with tension-clamp wire terminals
43-026582-01 (inserted in the PAC)
Parker Software License Agreement
A4-04291-102
Getting Started Sheet
88-032477-01
Required Tools
Installing the PAC and PACIO Modules on the DIN rail requires no tools. However, a small flat blade
screwdriver (tip size 0.04mm x 2.5mm) is required for attaching the wiring to the PAC Controller and
PACIO Modules.
Installation Safety Requirements
The PAC meets the requirements of the European Low Voltage Directive (LVD) 2006/95/EC and the
Electromagnetic Compliance (EMC) directive 2004/108/EC, and Safety Requirements EN61010 when
installed according to the instructions provided in this chapter.
WARNING: To avoid injury or electrical shock, always remove power to the
PAC before connecting electrical devices (for example, PACIO
Modules).
WARNING: The PAC connects to other mechanical and electrical components
of your system. Be sure to test your system for safety under all
potential conditions. Failure to do so may result in serious
personal injury or damage to equipment.