Parker MDC Series User manual

User’s
manual
Rev. 0.1
August 2012
MDC
MotorNet – DC
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

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This user manual is for the standard version of the converter.
All information in this user manual, including methods, techniques and concepts described
herein, are proprietary information of Parker Hannifin Manufacturing is committed to a
continuous product upgrade and reserves the right to modify products and user manuals at any
time without prior notice. No part of this user manual may be howsoever reproduced without
previous consent by Parker Hannifin Manufacturing.
Cod 1208031400

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Index:
1SAFETYINSTRUCTIONS.............................................................................................5
1.1 Symbols and signals .................................................................................................5
1.2 General information................................................................................................. 5
1.3 Safety instructions for transportation and storage ............................................... 6
1.4 Safety instructions for commissioning....................................................................6
1.5 Safety instructions for operation ............................................................................7
1.6 Safety instructions for maintenance .......................................................................8
1.7 Compatibility with RCD devices.............................................................................8
1.8 Applicable standards................................................................................................9
1.9 Materials and disposal............................................................................................. 9
1.10 Warranty................................................................................................................... 9
2INTRODUCTION............................................................................................................10
2.1 Product description................................................................................................ 10
2.2 Identification........................................................................................................... 11
3MAIN HARDWARE FEATURES.................................................................................12
3.1 Ambient conditions ................................................................................................ 12
3.2 Vibrations and shocks............................................................................................12
3.3 Motor data ..............................................................................................................13
3.4 Power supply........................................................................................................... 14
3.5 Other characteristics.............................................................................................. 14
4MOUNTING.....................................................................................................................15
4.1 Dimensions and weights.........................................................................................15
4.2 Mounting instructions............................................................................................ 19
4.3 Connectors layout................................................................................................... 19
4.4 Signal connectors....................................................................................................20
4.5 Hybrid cable – Connection PSI-MDC.................................................................. 22
4.6 LEDs status .............................................................................................................23
4.7 Address setting........................................................................................................ 23
4.8 Hybrid Cable: lengths and cross sections ............................................................ 24
4.9 Limits Hybrid cable with Intercontec connector ................................................24
4.10 Layout...................................................................................................................... 25
5
73B
DECIMAL PARAMETERS...........................................................................................27
5.1
74B
Binary parameters..................................................................................................30
5.1.1 112BValue capture............................................................................................................ 32
6CAN BUS INTERFACE................................................................................................33
6.1 CANopen dsp402 (D/E5 version)..........................................................................33
6.1.1 Dictionary object summary of ds301 ....................................................................... 34
6.1.2 Dictionary object summary of dsp402 ..................................................................... 35
6.1.2.1 Object 6040h: Controlword.............................................................................. 38

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6.1.2.2 Object 6041h: Statusword ................................................................................ 40
6.1.2.3 Object 605Bh: Shutdown option code ............................................................. 42
6.1.2.4 Object 605Ch: Disable operation option code ................................................. 43
6.1.2.5 Object 605Ah: Quick stop option code............................................................ 44
6.1.2.6 Object 605Eh: Fault reaction option code....................................................... 44
6.1.2.7 Object 6060h: Modes of operation................................................................... 45
6.1.2.8 Object 6061h:Modes of operation display...................................................... 45
6.1.3 Functional description.............................................................................................. 46
6.1.3.1 Modes of operation function............................................................................ 46
6.1.4 Interpolated Position Mode (operative mode 202)................................................... 47
6.1.4.1 Object 60C0h: Interpolation sub mode select .................................................. 48
6.1.4.2 Object 60C1h: Interpolation data record.......................................................... 48
6.1.5 Mode Cyclic synchronous position (operative mode 203)....................................... 51
6.1.5.1 Functional description...................................................................................... 52
6.1.5.2 Use of controlword and statusword.................................................................. 53
6.1.5.3 Detailed object definitions ............................................................................... 53
6.1.5.3.1 Object 60B0h: Position offset......................................................................53
6.1.5.3.2 Object 60B1h: Velocity offset...................................................................... 54
6.1.5.3.3 Object 60B2h: Torque offset........................................................................ 54
6.1.6 Drive parameters ...................................................................................................... 55
7REVISION HISTORY OF THE USER MANUAL......................................................56

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1 Safety instructions
1.1 Symbols and signals
Several symbols and signals are used in this safety instruction.
Pay attention to the following meanings :
Extremely severe risk. Disregarding the following advise may involve
danger of life.
Severe risk. Disregarding the following advise may involve serious personal
injury.
Medium risk. Disregarding the following advise may involve personal
injury
1.2 General information
•Only persons who are qualified and trained for the use and operation of the equipment
may work on this device or within its proximity. The persons are qualified if they have
sufficient knowledge of the assembly, transportation, installation and operation of the
equipment as well as an understanding of all warnings and precautionary measures
noted in these instructions. The user must also observe local safety regulations.
•Before installing and commissioning the drive, read carefully this documentation and
strictly observe all technical, safety and wiring information, including identifying
labels placed on the drive (ratings). In case of doubt contact the Parker Hannifin
service centre.
•Drives are to be intended as components for use in machine or systems. Therefore they
can be used only in machine or systems that are in compliance with the low voltage
directive and with the electro-magnetic compatibility directive.
•Electronic equipments are generally not “fail-safe” components. Therefore the
machine manufacturers should carry out a risk analysis for the whole machine in order
to ensure that moving parts (motors) cannot bring personal injury in case of failures of
electronic devices.

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1.3 Safety instructions for transportation and
storage
•The ambient conditions given in the product documentation must be observed for
transportation and storage (temperature, humidity, mechanical stress and aggressive
atmosphere).
•Drives contain components sensitive to electrostatic charges which can be damaged by
inappropriate handling. Therefore during installation / removal of drives, provide the
necessary safety precautions against electrostatic discharges (discharge electrostatic
charges of the human body before touching the drive, always place the drive above
conductive plates and avoid touching it with insulating material like synthetic fibres,
polymeric materials etc…)
Risk of injury by incorrect handling !
•Incorrect handing of the equipment may cause severe personal injury. Use appropriate
tools for transportation, lifting, handling and mounting. Wear appropriate clothing for
accident-prevention (safety shoes, safety glasses, safety gloves, etc...).
1.4 Safety instructions for commissioning
•The high voltages inside the drive imply risk of electric shock. Make sure that drive
and motor are properly grounded accordingly to national regulations. Furthermore the
supplier, before switching it on, must be closed in a protective cabinet in order to
avoid direct contact with accessible live parts.
•Only qualified and trained personnel is allowed to perform installation and
commissioning, using appropriate tools and following the safety precautions given in
this instruction. Make sure that supply voltage has been switched off before installing
and wiring.
•Suppliers are only allowed to be operated on TT, TN grounded industrial mains
having maximum 480V+10% line to line rms voltage, as specified in the user manual.
Do not directly install the supplier on ungrounded (IT) or asymmetrically grounded
mains. In case of ungrounded mains, coupling with Dyn transformer with grounded
secondary circuit is necessary. Refer to PSU technical data and wiring instruction.
•All the components used in the cabinet in which the supplier is installed, (cables,
contactors, inductors and transformers, fuses, etc...), must be in compliance with the
specification given in the product documentation, in addition to national regulations.
Make sure that the maximum temperature inside the cabinet does not exceed 45°C
(113°F). If necessary, use an appropriate air conditioning.
•The size and temperature rating of wires and cables used for connecting the drive must
be in compliance with the specification given in the instruction manual (see NEC 310-
16 for USA). Use also the specified tightening torque.
•Make sure about the correct drive-motor matching: voltage and current ratings must be
compatible.

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•The user is responsible for over-current and short circuit protection of the drive. Read
carefully the specification given in the user manual.
1.5 Safety instructions for operation
High voltage ! Risk of electric shock ! Danger of life !
•All live parts must be protected against direct contact. The supplier must be closed
inside a cabinet before switching it on.
•Working on power live parts (terminals) must be conducted with the drive switched-
off. Dangerous voltages may be present at power terminals even after the supply has
been switched off and the motor stopped. Make sure the equipment can not be
switched on unintentionally. Wait at least 6 minutes before working on live parts after
the unit has been switched-off.
•The drive and the motor must be permanently connected to earth accordingly to the
connection diagram, even for brief measurements or tests.
High leakage current ! Risk of electric shock ! Danger of life !
•Earth leakage current during operation may exceed 3,5 mA AC or 10mA DC.
•Earth connection must be permanent : use copper wire having a minimum size of
10mm2throughout all the length.
•Before switching the equipment on, make sure that all devices, are permanently
connected to earth, even for brief test or measurements, as shown in the wiring
diagrams. Otherwise high voltages may appear on equipment conductive surfaces with
danger of electrical shock.
•Always refer to current local regulations for grounding. For installation within
European Community refer to EN61800-5-1 product standard, section 4.2.5.4.2. For
installation in the USA refer to NEC (National Electric Code) and NEMA (National
Electric Manufacturers Association). The product installation should always comply
with the above said standards.
Hot surfaces ! Danger of injury ! Danger of burns !
•Some external surfaces of the equipment and same internal part may reach very high
temperatures. Danger of burn and injury if touching these parts.
•After switching the equipment , wait at least 15 minutes to allow it to cool before
touching it.

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Dangerous movements ! Dangerof life !
•Dangerous movements can be caused by faulty control of the connected motor.
Same common example are:
Improper or wrong installation and wiring
Wrong input parameters before or during operation (programming)
Defective components (drive, motor, wires, sensors, etc...)
Incorrect control (software or firmware errors)
•In order to prevent personal injury due to unintended dangerous motor movements, pay
the maximum attention and work on the machine with a qualified and tested safety system:
Isolate the supplier power connection.
Mount the emergency stop switch in the immediate reach of the operator. Verify that
the emergency stop works before start-up. Don’t operate on the machine if the
emergency stop is not working.
Install properly fences, guards, coverings and light barriers in order to prevent people
from accidentally entering the machine’s range of motion.
Secure vertical axes against falling or dropping after switching off the motor power
Make sure that the drives are brought to a safe standstill before accessing or entering
the danger zone.
1.6 Safety instructions for maintenance
•It is extremely dangerous to remove covers or part of the external enclosure from the
equipment. Risk of personal injury. The warranty immediately decay.
•In case of malfunction consult the alarm list described in the user manual or address
Parker Hannifin. The drives are not field repairable.
1.7 Compatibility with RCD devices
The use of RCD (Residual Current Devices) is strongly not recommended.
If the use of RCD is mandatory, use type B only (for DC and AC prospective earth current).
Set the trip level at 300mA (fire protection level) or more.
Setting the trip level at 30mA (protection level against direct contact) is possible only using
time-delayed RCD and low leakage current EMC filters, but in any case the drives are not
guaranteed to operate with 30mA trip level.

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1.8 Applicable standards
Safety [EN61800-5-1:2007]
2006/95/EC
Low voltage directive
Rotating electrical machines [EN60034-1:2006]
Part 1: Rating and performances
Electromagnetic Compatibility (Immunity/Emission) [EN61800-3:2004]
2004/108/EC
EMC directive
The drives are to be intended as components to be used in a second environment (industrial
environment) and category C3, together with specific EMC filters and installed accordingly to
the recommendation given in the user manual. When used in the first environment (residential
/ commercial environment), drives may produce radio-frequency interference dangerous for
other equipments : additional filtering measures must be implemented by the user.
1.9 Materials and disposal
- zinc coated steel sheet, thickness 1mm and 2mm
- extruded aluminium AlSi
- adhesive polycarbonate (front label)
Electrolytic capacitor contains electrolyte and printed circuit boards contains lead, both of
which are classified as hazardous waste and must be removed and handled according to local
regulations.
Parker Hannifin Manufacturing, together with local distributors and in
accordance with EU standard 2002/96/EC, undertakes to withdraw and
dispose of its products, fully respecting environmental considerations.
1.10 Warranty
The warranty duration is 1 (one) year. The converter must not be opened, accessed or
modified in any of its part. Any attempt to do so would cause the 1-year warranty to be
cancelled with immediate effect. Parker Hannifin declines any responsibility for damages that
may be caused by inappropriate use of the converter.

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2 INTRODUCTION
Read carefully all the sections.
2.1 Product description
The MDC is a motor with electronic control integrated. Motor size from 1 Nm to 7,5 Nm of
the SMB motor series (high performance brushless).
The DC bus supply and the auxiliary control supply require the connection to PSU and PSI
units.
As feedback the MDC can support the resolver or the absolute encoder with EnDat interface.
It can use in motion control by EtherCAT protocol or by CANopen DS402 (n.a.)

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2.2 Identification
The converters of the MDC series are available in different models. The number that follows
the MDC abbreviation corresponds to the rated current of the converter in amperes.
Use the following table to specify the order code:
MDC
60
30
5
9
E
64
2
E
A
70
52
8
11
S
Hxx
F4
M
R
D
65
4
82
60
14
100
19
24
Where :
MDC
MotorNET DC
E
Encoder
A
Brake (n.a.)
60
Motor size (60, 70, 82, 100)
30
Motor Speed (3000, 5200, 6000 rpm)
5,8
Flange type (type 5 on size 60, 70, 82, 100; type 8 on size 60)
9…24
Shaft diameter
With keyway
S
Without keyway
Standard shaft
Hxx
Hollow shaft (xx = internal diameter – only for MDC70, 100 with resolver)
Resolver
F4
Encoder EnDat
M
Increased inertia (n.a.)
R
Safe torque off
D
CANopen DS402 (n.a.)
E
EtherCAT
64
IP level (65 IP level n.a.)
2
Power supply voltage: 230V
4
Power supply voltage: 400V
A label attached of the device contains all the essential information to correctly identify the
unit:
Serial number
Model
Nominal plate data
It is important to refer to this label before requesting any kind of technical information to
Parker Hannifin Manufacturing

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3 Main hardware features
3.1 Ambient conditions
temperature
operation
Class 3K3, 0 … +40 °C (+32 …+104 °F)
storage
Class 1K4, -25 … +55 °C (-4 …+131 °F)
transportation
Class 2K3, -25 … +70 °C (-13…+158 °F)
humidity
operation
Class 3K3, 5-85 % without ice and condensation
storage
Class 1K3, 5-95 % without ice and condensation
transportation
Class 2K3, 95% at 40°C
altitude (*)
≤1000 m slm (≤3281 feet asl)
Protection degree
IP64
UL open type equipment
Pollution degree
2 or lower (no conductive dust allowed)
(*)For higher installation altitude, derate the output current by 1.5% each 100m up to 2000m
maximum
3.2 Vibrations and shocks
frequency [Hz]
amplitude [mm]
acceleration [m/s2]
operation
(3M1 class)
2 ≤f < 9
0,3
-
9 ≤f < 200
-
1
transportation
(2M1 class)
2 ≤f < 9
3,5
-
9 ≤f < 200
-
10
200 ≤f < 500
-
15
free fall 0,25m max

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3.3 Motor data

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3.4 Power supply
AUX VOLTAGE SUPPLY
Input voltage
V=
24 – 48VDC (0%...+10%)
Max rated input current
A
20 *
Control stage
Input power
W
12
Stationary brake
Input power
Size
Power
60
W
11
82
W
11
* the Max rated input current is the rated current that the aux. voltage supplies to the overall
MDC chain. To evaluate the maximum MDC number the user must consider also the input
braking current
Power stage
Max DC voltage supply
V=
750V
3.5 Other characteristics
2 digital inputs (opto-insulation)
input impedance
Type of driving required
Reaction time
kΩ
-
µ
s
PNP
2 digital outputs PNP (opto-insulation)
External supply
Vdc
24 (±10%)
Max current for single output (by
internal supply)
mA 100
Max current for single output (by
external supply)
mA 600

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4 MOUNTING
4.1 Dimensions and weights
*the connectors of I/Ocables are not included
Type
Lm
H
QF
MDC60
192+shaft
154
60
MDC70
287+shaft
164
70
MDC100
262+shaft
194
100

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4.2 Mounting instructions
•Do not install in hazardous environments.
•To ensure drive cooling, leave a free space above, below and in front of at
least 100 mm. The hot air cooling must be done in an external environment,
to avoid damage caused by the formation of condensation.
4.3 Connectors layout
*the connectors of I/Ocables are not included
IMPORTANT
IMPORTANT
X1 – IN
DC BUS
24Vdc
supply
Motion BUS
Service BUS
X3 – Digital INputs
Status LED
Green: power (D2)
Red: status (D1)
Address setting
X4 – Digital OUTputs
X2 – OUT
DC BUS
24Vdc supply
Motion BUS
Service BUS
X5 –STO INputs,
RS232,brake

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4.4 Signal connectors
X1 – Connector male IN (motor side)
X2 – Connector female OUT (motor side)
X1 – IN - motor side
A
Vdc AUX
B
+ DCBUS
C
- DCBUS
D
0V AUX
PE
Ground
1
+ serv_bus
2
- serv_bus
3
0V_serv_bus
4
STO1
5
STO_0V
6
STO2
7
+ TX
8
- TX
9
+ RX
10
- RX
X2 – OUT - motor side
A
Vdc AUX
B
+ DCBUS
C
- DCBUS
D
0V AUX
PE
Ground
1
+ serv_bus
2
- serv_bus
3
0V_serv_bus
4
STO1
5
STO_0V
6
STO2
7
+ TX
8
- TX
9
+ RX
10
- RX