Parker P Series User manual

Parker Hannifin
P Series User Guide
EtherCAT Drive
88-032556-01A June 1, 2015
北京润诚时代科技有限公司
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自动化事业部
网址：www.runcheng.net
Ｐａｒｋｅｒ核心代理商
北京润诚时代科技有限公司北京润诚时代科技有限公司
自动化事业部
邮编：１０００１２
电话：[phone]
传真：[phone]
网址：www.runcheng.net
地址：北京市朝阳区汤立路２１８号Ｃ座９６８室地址：北京市朝阳区汤立路２１８号Ｃ座９６８室

Parker Hannifin
P series EtherCAT Drive User Guide
３
6.1.1 Assignment of Digital Input Signal ...............................................................................109
6.2 Assignment of Digital Output Signal...........................................................................111
6.3 Use of User I/O ..............................................................................................................113
6.4 Electric Gear..................................................................................................................117
6.5 Setting Related to Speed Control...........................................................................119
7. Safety Functions.............................................................................. 137
7.1 Safe Torque Off(STO) Function..................................................................................138
7.2 External Device Monitoring(EDM).............................................................................140
7.3 Example of Using Safety Function ..............................................................................141
7.4 How to Verify Safety Function ....................................................................................141
7.5 Precautions ....................................................................................................................141
8. Tuning............................................................................................ 143
8.1 Servo Tuning Overview................................................................................................143
8.2 Position Variable Overview .........................................................................................144
8.2.1 Commanded Position......................................................................................................144
8.2.2 Actual Position................................................................................................................145
8.3 Servo Response Overview ......................................................................................145
8.3.1 Stability............................................................................................................................145
8.3.2 Position Response Types ................................................................................................146
8.3.3 Performance Measurements..........................................................................................147
8.4 Automatic Gain Tuning................................................................................................148
8.4.1 Related Objects...............................................................................................................149
8.5 Manual Gain Tuning ....................................................................................................149
8.5.1 Speed Controller Tuning................................................................................................150
8.5.2 Position Controller Tuning............................................................................................150
8.6 Vibration Control..........................................................................................................151
8.7 Filters .............................................................................................................................151
8.4.1 Related Objects...............................................................................................................152
8.4.2 Adaptive Filter................................................................................................................153
8.4.3 Related Objects...............................................................................................................153
8.8 Analog Monitor.............................................................................................................154
8.4.1 Related Objects...............................................................................................................154
8.8.2 Analog monitor output mode(0x2220) setting..............................................................155
8.8.3 Analog monitor channel 1 setting (0x2221)..................................................................155
8.8.4 Analog Monitor Setting Example..................................................................................156
9. Procedure........................................................................................ 157
9.1 Procedure Function ......................................................................................................158
9.1.1 Manual Jog Operation ...................................................................................................158
9.1.2 Program Jog Operation .................................................................................................159
9.1.3 Alarm Record Detection.................................................................................................160
9.1.4 Automatic Gain Tuning .................................................................................................161
9.1.5 Index Pulse Search..........................................................................................................161

Parker Hannifin
P series EtherCAT Drive User Guide
４
9.1.6 Absolute Encoder Reset .................................................................................................162
9.1.7 Instantaneous Maximum Torque Reset........................................................................163
9.1.8 Calibrate Current Offset................................................................................................163
9.1.9 Software Reset.................................................................................................................164
9.1.10 Commutation..............................................................................................................164
10. Object Dictionary............................................................................. 165
10.1 Object Dictionary........................................................................................................165
10.1.1 Data Type....................................................................................................................166
10.1.2 General Objects..........................................................................................................166
10.1.3 Manufacturer Specific Objects .................................................................................182
10.1.4 CiA402 Objects...........................................................................................................232
11. Troubleshooting............................................................................... 251
11.1 Troubleshooting Guidelines.......................................................................................251
11.2 Servo Alarm and Check List......................................................................................252
11.3 Servo Warning and Check List .................................................................................257

Parker Hannifin
P series EtherCAT Drive User Guide
５
Table of Figures
Figure 1. PD Drive Names................................................................................................................. 15
Figure 2. 400W Drive Front Description........................................................................................... 16
Figure 3. 1000W Drive Front Description......................................................................................... 17
Figure 4. 3500W Drive Front Description......................................................................................... 17
Figure 5. PD Drive Dimensions......................................................................................................... 21
Figure 6. PD-04P Mounting Information...........................................................................................23
Figure 7. PD-10P Mounting Information...........................................................................................23
Figure 8. PD-35P Mounting Information...........................................................................................24
Figure 9. System Installation Overview..............................................................................................27
Figure 10. Dynamic Brake Sequence .................................................................................................29
Figure 11. PD Drive Block Diagram.................................................................................................. 44
Figure 12. Drive Wiring Example ...................................................................................................... 45
Figure 13. Example of Digital Input Signal Wiring............................................................................53
Figure 14. Example of Digital Output Signal Wiring.........................................................................54
Figure 15. Example of Analog Input Signal Wiring ...........................................................................54
Figure 16. Example of Analog Output Signal Wiring......................................................................... 55
Figure 17. EtherCAT IN/OUT Connector...........................................................................................61
Figure 18. Example of Drive Connection...........................................................................................62
Figure 19. CiA402 State Machine Diagram.......................................................................................71
Figure 20. Homing Function..............................................................................................................92
Figure 21. Touch Probe Function.....................................................................................................105
Figure 22. Touch Probe Function Timing Diagram.........................................................................107
Figure 23. Speed Control..................................................................................................................120
Figure 24. Smooth Acceleration and Deceleration..........................................................................120
Figure 25. Position Command Filter................................................................................................123
Figure 26. Commanded Position......................................................................................................145
Figure 27. Position Response Types.................................................................................................147
Figure 28. Control Loop Block Diagram .........................................................................................149

Parker Hannifin
P series EtherCAT Drive User Guide
６
Figure 29. Vibration Control............................................................................................................151
Figure 30. Meaning of Notch Filter .................................................................................................152
Figure 31. Adaptive Filter Diagram................................................................................................153
Figure 32. Analog Monitor...............................................................................................................154
Figure 33. Analog Monitor Output Setting.......................................................................................155
Figure 34. Analog Monitor Setting Example....................................................................................156
Figure 35. Program Jog Operation..................................................................................................159

Parker Hannifin
P series EtherCAT Drive User Guide
７
Table of Tables
Table 1. Output Power Level.............................................................................................................15
Table 2. Drive Installation Environment ............................................................................................20
Table 3. PD Drive Dimensions...........................................................................................................21
Table 4. PD Drive Weight...................................................................................................................22
Table 5. Power Circuit Electronics Specification...............................................................................27
Table 6. Braking Resistance (Optional)..............................................................................................28
Table 7. Dynamic Brake Related Objects...........................................................................................30
Table 8. Regeneration Related Objects ..............................................................................................30
Table 9. Internal Resistor Setting.......................................................................................................32
Table 10. External Regeneration Resistor Setting..............................................................................35
Table 11. LED Status - RUN...............................................................................................................37
Table 12. LED Status - Error..............................................................................................................37
Table 13. PD Drive Alarm Code List.................................................................................................40
Table 14. PD Drive Warning Code List..............................................................................................41
Table 15. Names and Functions of Safety Function Signal (STO) ..................................................... 56
Table 16. Digital Input Signal Description.........................................................................................58
Table 17. Digital Output Signal Description......................................................................................58
Table 18. Analog Input Signal Description ........................................................................................59
Table 19. Analog Output Signal Description......................................................................................59
Table 20. Data Type and Range..........................................................................................................66
Table 21. CiA402 State Machine Description ....................................................................................71
Table 22. State Machine Control Command.......................................................................................72
Table 23. Profile Torque Mode Related Objects.................................................................................91
Table 24. Homing Methods.................................................................................................................93
Table 25. Homing Related Objects.....................................................................................................93
Table 26. Touch Probe Function Related Objects ............................................................................106
Table 27. Examples of Gear Setting ................................................................................................. 119
Table 28. Servo Lock Function.........................................................................................................121
Table 29. Servo Lock Function Related Objects...............................................................................122
Table 30. Position Command Filter Related Objects.......................................................................123
Table 31. Position Control Related Objects ..................................................................................... 124