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
邮编：１０００１２
电话：[phone]
传真：[phone]
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
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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
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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
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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
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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
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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

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P series EtherCAT Drive User Guide 13
1.1 P Series Products Overview
The PD drives are a family of super compact, super economic digital servo drives. Their
maximum continuous shaft power ranges from 100 Watts to 3500 Watts (3.5kW). Ready
for direct panel mounting, you can select the precise power level needed for your
application.
1.1.1 P series Features and Specification
PD drives support auto-configuration through BiSS-C protocol when using PM series servo
motors. Also, drives have multiple feedback interfaces like EnDAT2.2, Quadrature, Sin/Cos
and Tamagawa serial encoder. Especially PD-xxC drive can support EtherCAT
communication to control various servo motor and actuators.
PM motors are economic, flexible and reliable rotary servo motor. Those are available in
40, 62, 80, 130 and 180 frame size. Rated output power ranges from 50W to 3500W with
rated torque of 0.16Nm to 16.7Nm at 3000rpm rated speed.
Drive support tool software to setup the servo motor has user-friendly and easy features. It
also has many features like support step by step configuration, pre-defined profile function,
auto tuning (real-time), various homing mode, jog motion, point to point movement, 4
channel oscilloscope and easy firmware update with PD drives.
Name
Item
PD-04C
PD-10C
PD-35C
Input power
Main power
120VAC
1/3-phase 200-230[V](-15 ~
+10[%]), 50 ~ 60[Hz]
1/3-phase AC200 ~ 230[V](-15 ~
+10[%]), 50 ~ 60[Hz]
Control power
Single-phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz]
Rated current (A)
3.0
6.75
16.7
Peak current (A)
9.0
20.25
50.1
Encoder Type
Quadrature(Incremental)
BiSS-B, BiSS-C(Absolute, Incremental)
Tamagawa Serial(Absolute, Incremental)
EnDat 2.2
Control
performanc
e
Speed control
range
Maximum 1 : 5000
Frequency
response
Maximum 1 kHz or more (when the 19-bit serial encoder is applied)
Speed change
rate
±0.01% or lower (when the load changes between 0 and 100%)
±0.1% or less (temperature of 25℃(±10))
Torque control
repetition
accuracy
Within ±1%
EtherCAT
Communica
tion
specificatio
ns
Communication
standard
FoE (Firmware download)
EoE (Parameter setting by UDP, Tuning, Secondary function,
Parameter copy)
CoE (IEC 61158 Type12, IEC 61800-7 CIA 402 Drive profile)
Physical layer
100BASE-TX(IEEE802.3)
Connector
RJ45 x 2
Communication
distance
Within connection between nodes 100[m]
DC
(Distributed
Clock)
By DC mode synchronism. minimum DC cycle: 250[us]

Parker Hannifin
P series EtherCAT Drive User Guide 14
LED display
LinkAct IN, LinkAct OUT, RUN, ERR
Drive
Profile
Profile Position Mode
Profile Velocity Mode
Profile Torque Mode
Cyclic Synchronous Position Mode
Cyclic Synchronous Velocity Mode
Cyclic Synchronous Torque Mode
Homing Mode
Digital
input/output
Digital input
Input Voltage range : DC 12[V] ~ DC 24[V]
Total 8 input channels (allocable)
Above 12 functions can be used selectively for assignment.
(*POT, *NOT, *HOME, *STOP, *PCON, *GAIN2, *P_CL, *N_CL,
PROBE1, PROBE2, EMG, A_RST)
Note) * Basic allocation signal
Digital output
Service rating: DC 24[V] ±10%, 120[㎃]
Total 4 input channels (allocable)
Above 11 functions can be used selectively for assignment.
(*BRAKE±, *ALARM±, *READY±, *ZSPD±, INPOS±,
TLMT±, ,VLMT±, INSPD±, WARN±, TGON±, INPOS2±)
Note) * Basic allocation signal
Analog Monitor
There are 2 input channels.
Above 15 functions can be used selectively for assignment.
Safety function
2 input channels (STO1, STO2), 1 output channels (EDM±)
USB
Communicat
ion
Function
Firmware download, Parameter setting, Tuning, Secondary function,
Parameter copy
Communication
standard
USB 2.0 Full Speed (applies standard)
Connect
PC or USB storing medium
Internal
function
Dynamic
braking
Standard built-in brake (activated when the servo alarm goes off or
when the servo is off).
Regenerative
braking
Both the default built-in brake and an externally installed brake are
possible.
Display
function
Seven segments (5 DIGIT)
Self-setting
function
The [Mode] key changes the content displayed in the 7 segments.
Additional
function
Auto gain tuning function
Protection
function
Overcurrent, overload, overvoltage, low voltage, main power input
error, control power input error, over speed, motor cable, heating
error (power module heating, drive temperature error), encoder error,
excessive regeneration, sensor error, communication error
Environment
Temperature
0 ~ +50[℃] / -20~ +70[℃]
Humidity
90% RH or less (no condensation)
Environment
Indoors in an area free from corrosive or combustible gases, liquids,
or dust.

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P series EtherCAT Drive User Guide 18
1.2 Compatible Parker Product
PAC(Parker Automation Controller) .............. PAC320 series, EtherCAT Master controller
Software ......................................... PAM(Parker Automation Manager) for controller
Drive Support Tool (Easy configuration) for drive
Rotary Servo / Direct Drive Rotary Motor…….. PM-F/PM-DD Series motors
For information about cables, motors, etc., see “Chapter 2 Mechanical Installation”.
1.4 Illustrations in this Installation Guide
Typically, the illustrations in this guide show the P series PD-04x, PD-10x and the
PD-35x.
If there is a need to illustrate differences between drives, relevant drawings are shown for
each drive.
1.3 Assumptions of Technical Experience
The PD Drive is designed for industrial applications. To effectively install and troubleshoot
the PD Drive, you must have a fundamental understanding of the following:
• Motion control applications
• Electromechanical actuators
• Electrical concepts such as voltage, current, switch, etc.
• Serial(RS-422, PD-xxP) / EtherCAT(PD-xxC) Communication depending on which
communications protocol you are using.
1.4 Technical Support
For solutions to your questions about implementing the PD Drive, first refer to this manual.
If you cannot find the answer in this documentation, contact your distributor for assistance.
If you need to talk to our in-house Application Engineers, please contact us at the
telephone numbers listed on page 2.