Parker mPR Series Owner's manual

MANUAL NO. 102-7238-01
REV B
EFFECTIVE : June 4, 2018
SUPERCEDES : February 26, 2018
mPR
User Information Guide

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For assistance contact:
Parker Hannifin Corporation
Electro Mechanical Division
1140 Sandy Hill Road
Irwin , PA 15642
Ph 724-861-8200
800-245-6903
E-mail : [email protected]
www.parkermotion.com
The information in the product manual, including any apparatus, methods, techniques, and con-
cepts described herein, are the proprietary property of Parker Hannifin Corporation, Electrome-
chanical Automation-Parker or its licensors, and may not be copied, disclosed, or used for any
purpose not expressly authorized by the owner thereof.
Since Parker Hannifin Corporation, Electromechanical Automation-Parker constantly strives to im-
prove all of its products, we reserve the right to change this product manual and equipment men-
tioned therein at any time without notice.
WARNING
FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS AND/OR SYSTEMS DESCRIBED
HEREIN OR RELATED ITEMS CAN CAUSE DEATH, PERSONAL INJURY AND PROPERTY DAMAGE.
This document and other information from Parker Hannifin Corporation, its subsidiaries, and authorized distributors provide
product and/or systems options for further investigation by users having technical expertise. It is important that you ana-
lyze all aspects of your application and review the information concerning the product or system in the current product
catalog. Due to the variety of operating conditions and applications for these product systems, the user, through its own
analysis and testing, is solely responsible for making the final selection of the products and systems and assuming that all
performance, safety, and warning requirements of the application are met.
The products described herein, including without limitation, product features, specifications, designs, availability and pric-
ing, are subject to change by Parker Hannifin Corporation and its subsidiaries at any time without notice.
Important User Information

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mPR080/mPR100 Series Product Manual
Introduction………………………………….………………………………………………..…………….5
General Information………………………………………………………………………………5
Warranty…………………………………………………………………………………………..5
Repair……………………………………………………………………………………….…. .5
Unpacking……………………………………………………………….…………………………….…….6
Warnings and Precautions………….………………………………………………………………….…..7
Part Number Nomenclature..……….………………………………………………………………….….8
Specification Conditions….………….………………………………………………………………….….9
Mounting Surface Requirements...….………………………………………………………………….….9
Specifications……………..………….………………………………………………………………….….10
mPR080…………..………………………………………………………………………………10
mPR100…………..………………………………………………………………………………11
Dimensional Drawings….…..……….………………………………………………………………….….12
mPR080…………..………………………………………………………………………………12
mPR100…………..………………………………………………………………………………13
Motor Hall and Power Cable Information ………..………………………………………………….….14
Stage Wiring Encoder Information……….………..………………………………………………….….14
Optical Encoder…..………………………………………………………………………………14
Sine Cosine Encoder...……………………………………………………………………………14
Interconnect Cable Diagram….…….………………………………………………………………….….15
Parker Drives and Cable Accessory Part Numbers.………………………………………………….….15
Compliance Documentation………………………………………………………………….….………...16

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REVISON NOTES_____________________________________________________________________
REV - INITIAL RELEASE 2/20/17
REV A - P 14 - CHANGE HOW LIMIT INFORMATION IS CALLED OUT
REV B - P 8 - UPDATE THE ENCODER OPTIONS

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Introduction
Thank you for your interest in the products and systems offered by Parker Hannifin Electromechanical
Automation Division. Our products and systems are recognized around the world for their functionality,
performance, and reliability. Our products can be combined to form single or multi-axis systems with a
full support of custom applications.
The intent of this guide is to provide general information for our range of products., including basic
maintenance and features. Not all of this information may be applicable to your product.
If you have any questions or challenges please call our factory support team at 800-245-6903.
Return Information
Returns
All returns must reference a “Return Material Authorization” (RMA) number. Please call your local author-
ized distributor or Parker Customer Service Department at 800-245-6903 to obtain a “RMA” number.
Repair Information
Out-of-Warranty Repair
Our Customer Service Department repairs Out-of-Warranty products. All returns must reference a “RMA”
number. Please call your local authorized distributor or Parker Customer Service Department at 800-245-
6903 to obtain a “RMA” number. You will be notified of any cost prior to making the repair.
General Information
It is the responsibility of the end user to ensure that equipment is installed and operated in
accordance with both local and federal safety codes and guidelines.
The user must ensure that the attachment of work pieces/tools or other devices on the moving
carriage of the unit does not endanger persons and/or property.

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Unpacking
Carefully remove the positioner from the shipping container and inspect the unit for any evidence of shipping
damage. Report any damage immediately to your local authorized distributor. Please save the shipping contain-
er for damage inspection or future transportation.
Incorrect handling of the positioner may adversely affect the performance of the unit in its application. Standard
handling and lifting practices should be employed, product may be heavy.
Please observe the following guidelines for handling and mounting of your new positioner.
Proper mounting of the actuator is required to reduce risk of injury and provide optimal performance.
Positioners should be mounted to a flat, stable surface by using thru-holes on the base of the unit.
Unless otherwise noted, motors should always be mounted in accordance to the motor
manufacturers specifications.
Unless otherwise specified, the standard installation of the rotary stage is horizontal,
DO NOT allow the positioner to drop onto the mounting surface. Dropping the positioner can generate impact
loads that may result in flat spots on bearing surfaces or misalignment of drive components.
DO NOT drill holes into the positioner. Drilling holes into the positioner can generate particles and machining forc-
es that may effect the operation of the positioner. Parker will drill holes if necessary; contact your local authorized
distributor.
DO NOT subject the unit to impact loads such as hammering, riveting, etc. Impacts loads generated by hammer-
ing or riveting may result in flat spots on bearing surfaces or misalignment of drive components.
DO NOT lift the positioner by cables or cable management system. Lifting positioner by cables or cable manage-
ment system may effect electrical connections and/or cable management assembly. The unit should be lifted by
the base structure only.
DO NOT expose positioner to mist, spray or submersion in liquids.
DO NOT disassemble positioner. Unauthorized adjustments may alter the positioner’s specifications and void the
product warranty.

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Warnings and Precautions
Hot Surfaces
DO NOT touch rotary motor body after high duty operation. Motor temperature may approach 60°C. The
unit itself may become warm or hot to the touch.
Electrical Shock
DO NOT take apart or touch any internal components of the positioner while unit is plugged into an elec-
trical outlet. SHUT OFF power before replacing components to avoid electrical shock.
Pinch Points
Unit may have a pinch point depending on load mounting. Proper care should be exercised.
Vertical Operation
Depending upon your load, an unpredicted rotation could occur when mounted vertically and cause harm
to user or positioner
General Safety
Sometimes positioners move without warning, keep all personnel away from dynamic travel range of po-
sitioner.
Strain Relieve Electrical Components
All electrical cables (such as motor or encoder) must be strain relieved. Failure to strain relieve electrical
wires or cables may result in component failure and/or possible personal injury.
High Magnetic Field
Unit may be HAZARDOUS to people with Pace Makers or any other ‘magnetically-sensitive’ medical de-
vices. Unit may have an effect on ‘magnetically-sensitive’ applications.
Moving Cables
If the cables are to be moving, the use of high flex cabling to insure long life is recommended.
Ferrous Materials
The positioner MAY NOT keep out all small ferrous materials in applications with air born metallic parti-
cles. The customer must take additional precautions in these applications to prevent intrusion of these
ferrous particles.
Part/ Serial Number Location and Description
Model #
Serial #

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Part Number Nomenclature
Order Example: mPR 080 DAE2 H3N
①Series
mPR
②Size
080 80
100 104
③Drive
DDirect
④Motor Opon
AStandard Opon
⑤Encoder Resoluon
mPR080 mPR100
E1 5.47 Arc-Sec 4.116 Arc-Sec
E2 0.547 Arc-Sec .4116 Arc-Sec
E3 0.0547 Arc-Sec .0412 Arc-Sec
SC Analog Sine/ Cosine Analog Sine/ Cosine
⑥Home
HH
⑦Cable Opon
33 meter high-ex
⑧Clean Room Opon
NStandard Class 1000
CClean Room tested class 10
①②③④⑤⑥⑦⑧

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Specification Conditions
Mounting Surface Requirements
Proper mounting of the mPR is essential to optimize product performance. All specifications are based on the
following conditions:
• The positioner must be bolted down to a flat surface which supports the entire length of the base using
all mounting holes provided
• At a minimum for basic motion the positioner must be mounted to a flat, stable surface, with a flatness
error less than or equal to 0.025mm/300mm, (specifications will be greatly varied from published specifi-
cation with this flatness).
• To meet catalog specifications the surface must have a flatness error less than or equal to
0.003mm/300mm for Standard grade and 0.001mm/300mm for Precision grade.
Standard Features
Travel 360 Degree Connuous
Motor Frameless Direct Drive Motor (will hall Eect Sensors)
Feedback Non-Contact Opcal Encoder
Scale 20um Pitch Stainless Steel Ring
Resoluon 1Vp-p Analog Output (see specicaons)
Digital Output Opons (see specicaons)
Sensors Integrated Home Mark (Encoder Channel Z)
Runout Axial: < 10um available (see specicaons)
Radial: < 10um available (see specicaons)
Bearings High Precision Crossed Roller Bearings
Encoder Cable High Flex, 10M Cycle, 3m length Integrated with Motor
Motor/ Hall Cable High Flex, 10M Cycle, 3m length Integrated with Motor
Structure Anodized Aluminum 6064-T6
Environment Standard
Oponal: Clean Room
Environmental Specicaons
Storage and Transport Temperature Range 0 to +40 Degrees C.
Storage and Transport Humidity Range 10 - 95% Non Condensing
Operaon Temperature to Achieve Specicaons 20 Degrees C +/- 1 degree C
Operaon Temperature range for basic moon ¹ 5 to 40 Degrees C.
Operaonal Humidity Range 10 - 95% Non Condensing
Cleanliness
Operang area is to be clean and free of parculaon.
Normal room dust is acceptable but heavy parculaon
can cause malfuncons and damage.
¹ Minimum to maximum connuous operang temperature range (with NO guarantee of any specicaon except moon)

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Specifications
mPR080 (80 mm diameter profile)
mPR mounted
* SC encoder resolution is dependent upon drive input resolution.
BEMF
Waveforms
Stage Informaon
Stage Mass kg 1.45
Max Load (Axial) kg 4
Max Load (Radial) kg 4
Moving Mass kg 0.38
Rotang Moment of Inera kg*mm^2 270
Motor Informaon
Stall Current Arms 1.6
Peak Current Arms 5.04
Voltage Constant Vrms/krpm 13.86
Torque Constant Nm/Arms 0.229
Resistance Ohms 6.5
Inductance mH 5.5
Running Fricon Nm 0.07
Stall Torque Connuous Nm 0.3
Peak Torque Nm .93
Max Bus Voltage Vdc 340
Max Winding Temperature Degree C 125
Winding Thermal Resistance Degree C / wa 2.36
Magnet Pitch Deg 120
Motor Thermal Time Constant minutes 11
Motor Cable Diameter mm 4.7
Encoder Diameter mm 4.5
Cable Length m3
Encoder Dependent Specicaons
Encoder Opon
E1 E2 E3 SC
Travel Degrees 360 360 360 360
Home Posion Locaon +/- Degrees 1111
Encoder lines per Revoluon lines/ rev 11,840 11,840 11,840 11,840
Encoder Resoluon Arc-Sec 5.473 0.5473 0.0547 n/a
Bi-direconal Repeatability +/- Arc-Sec 11 2.5 1.25
Axial Runout μm6666
Radial Runout μm6666
Wobble Arc-Sec 15 15 15 15
Max Velocity RPM 600 100 10 600
Hall 3
V-U U-W W-V
Hall 1
Hall 2
Hall Sensor Waveforms
0 60 120 180 240 300 360

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Specifications
mPR100 (104 mm diameter profile)
* SC encoder resolution is dependent upon drive input resolution.
Stage Informaon
Stage Mass kg 2.90
Max Load (Axial) kg 12
Max Load (Radial) kg 12
Moving Mass kg 1
Rotang Moment of Inera kg*mm^2 1000
Motor Informaon
Stall Current Arms 3.79
Peak Current Arms 11.95
Voltage Constant Vrms/krpm 41.28
Torque Constant Nm/Arms 0.68
Resistance Ohms 3.9
Inductance mH 8.9
Running Fricon Nm 0.5
Stall Torque Connuous Nm 2.0
Peak Torque Nm 6.2
Max Bus Voltage Vdc 340
Max Winding Temperature Degree C 125
Winding Thermal Resistance Degree C / wa 1.02
Magnet Pitch Deg 60
Motor Thermal Time Constant minutes 28
Motor Cable Diameter mm 7.5
Encoder Cable Diameter mm 4.5
Cable Length m3
Encoder Dependent Specicaons
Encoder Opon
E1 E2 E3 SC
Travel Degrees 360 360 360 360
Home Posion Locaon +/- Degrees 1111
Encoder lines per Revoluon lines/ rev 15,744 15,744 15,744 15,744
Encoder Resoluon Arc-Sec 4.1159 0.4116 0.0412 n/a
Bi-direconal Repeatability +/- Arc-Sec 10 21
Axial Runout μm6666
Radial Runout μm6666
Wobble Arc-Sec 12.5 12.5 12.5 12.5
Max Velocity RPM 600 95 9.5 600
V-U U-W W-V
Hall 1
Hall 2
Hall 3
BEMF
Waveforms
Hall Sensor Waveforms
0 60 120 180 240 300 360

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Dimensional Drawings (mm)
mPR080
Top View
Side View
Bottom View

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Dimensional Drawings (mm)
mPR100
Top View
Side View
Bottom View

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Motor Hall and Power Cable Information
CONNECTOR A
MALE 9 PIN D-SUB
COLOR FUNCTION PIN NUMBER
BLK HALL POWER 5
WHT HALL GND 6
YEL H1 7
BLU H2 8
GRN H3 9
MOTOR LEADS
COLOR FUNCTION
RED U
BRN V
ORG W
GRN/YEL GND
Stage Wiring Encoder Information
Funcon Signal Pin #
Power 5 Volts DC 8
Ground 2,9
Incremental Signals
A+ 14
A- 6
B+ 13
B- 5
Reference Mark Z+ 12
Z- 4
Limits * Not connected 10, 11
Setup (Used in installaon) 1
Error Output NPN 3
Funcon Signal Pin #
Power 5 Volts DC 4, 5
0 Volts DC 12,13
Incremental Signals
Cosine + 9
Cosine - 1
Sine + 10
Sine - 2
Reference Mark Z+ 3
Z- 11
Limits* Not connected 7, 8
Setup (Used in installaon) 6
Error Output NPN 14
Sine Cosine Encoder (SC Option) Optical Encoder (E1, E2, E3 Option)
* THE MPR IS NOT EQUIPPED WITH LIMIT SENSORS. HOWEVER, THE UNIT'S ENCODER SYSTEM, CAN BE EQUIPPED
WITH LIMIT SENSORS "INTEGRAL" TO THE SCALE. CONSULT THE FACTORY FOR MORE INFORMATION

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Parker Drives and Cable Accessory Part Numbers
Encoder Type Drive Cable Interconnect
Part Number
Digital IPA & P Series DC 006-2690-01
Analog IPA & P Series DC 006-2692-01
Digital P Series 006-2691-01
Digital/ Analog Motor Power and Hall Flying Lead 006-2678-01
Digital Digital Encoder Flying Lead 006-2679-01
Analog Analog Encoder Flying Lead 006-2680-01

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Compliance Documents
We hereby certify that the items covered in this manual, produced by Parker Han-
nifin Corporation, complies with the requirements of the EU Directive 2011/65/
EU on the restriction of the use of certain hazardous substances.
RoHS Compliance Statement
RoHS Restricted Substances and Limits
Lead (Pb) < 1000 ppm
Mercury (Hg) < 1000 ppm
Cadmium (Cd) < 100 ppm
Hexavalent chromium (Cr VI) < 1000 ppm
Polybrominated biphenyls (PBB) < 1000 ppm
Polybrominated diphenyl ethers (PBDE) < 1000 ppm
Declaration of Incorporation
According to EC Directive 2006/42/EC (Annex II, Part 1, Section B) for partly completed machineries.
Standard Title Edition
EN 60204-1Safety of Machinery - Electrical equipment of machines. General requirements 2009
EN 61326-1Electrical equipment for measurement, control and laboratory use - EMC requirements -
Part 1: General requirements
2013
EN 61010-1Safety requirements for electrical equipment for measurement, control, and laboratory use -
Part 1: General requirements
2010

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Notes

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Australia
Parker Hannin (Australia) Pty Ltd.
9 Carrington Road
Castle Hill NSW 2154
Australia
Tel: [phone]
Fax: [phone]
Brazil
Parker Hannin Ind. Com Ltda.
Av. Lucas Nogueira Garcez 2181
Esperança
12325-900 Jacareí, SP
Tel: [phone]
Fax: [phone]
Email: automa[e-mail]
Canada
Parker Hannin (Canada) Inc.
160 Chisholm Dr
Milton, Ontario L9T 3G9
Tel: [phone]
Fax: [phone]
Email: [e-mail]
China
Parker Hannin Moon & Control
(Shanghai) Co., Ltd
280 Yunqiao Rd. Jin Qiao Export
Processing Zone
Shanghai 201206, China
Tel: [phone]
Fax: [phone]
France
Parker SSD Parvex
8 avenue du Lac
B.P. 249
F-21007 Dijon Cedex
Tel: [phone]
Fax: [phone]
Germany
Electromechanical Europe
Parker Hannin GmbH & Co KG
Robert-Bosch-Strasse 22
D-77656 Oenburg
Germany
Tel: [phone]
India
Parker Hannin India Pvt. Ltd
Automaon Group-SSD Drives Div.
133 & 151 Developed Plots Estate
Perungudi, Chennai 600 096
Tel: [phone]
Fax: [phone]
Italy
Parker Hannin SpA
Via Gounod 1
20092 Cinsello Balsamo
Milano, Italy
Tel: [phone]
Fax: [phone]
Korea
Parker Hannin Korea
9th Floor KAMCO Yangjae Tower
949-3 Dogok 1-dong Gangnam-gu
Seoul 135-860, Korea
Tel: [phone]
Fax: [phone]
Mexico
Parker Hannin de Mexico
Eje uno Norte No.100
Parque Industrial Toluca 2000
Toluca, CP 50100 México
Tel: [phone]
Fax: [phone]
Singapore
Parker Hannin Singapore Pte Ltd
11, Fourth Chin Bee Road
Singapore 619702
Tel: [phone]
Fax: [phone] 4929
Taiwan
Parker Hannin Taiwan Co., Ltd
No. 40, Wuchiuan 3rd Road
Wuku Industrial Park
Taipei County, Taiwan 248
ROC
Tel: [phone]
Fax: [phone]
Thailand
Parker Hannin (Thailand) Co., Ltd.
1265 Rama 9 Road
Suanluang, Bangkok 10250
Thailand
Tel: [phone]
Fax: [phone]
UK
Parker Hannin Ltd.
Tachbrook Park Drive
Tachbrook Park
Warwick CV34 6TU
Tel: [phone]
Fax: [phone]
USA
Parker Hannin Electromechanical
Automaon Division Main Oce/
Compumotor/CTC
5500 Business Park Drive
Rohnert Park, CA 94928 USA
Tel: [phone]
800-358-9070
Fax: [phone]
Email: emn_suppor[email protected]
Parker Hannin Electromechanical
Automaon Division/Daedal
1140 Sandy Hill Road
Irwin, PA 15642
Tel: [phone]
800-245-6903
Fax: [phone]
Email: [e-mail]
EM Sales Oces