Parker TPDM User manual

User’s
manual
Rev. 0.7
September 2012
TPDM

Parker Hannifin Manufacturing Srl user’s manual TPDM
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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 Srl and of its licensees, and they shall
not be copied or used without express authorization.
Parker Hannifin Manufacturing Srl 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
Srl.
Abbreviations
FBK
Feedback
Pr…
Decimal parameter
b…
Binary parameter (bit)
FFW
Feedforward, control advance function
R
Read parameter
W
Write parameter
Keypad-display
Keypad
Drive
Converter
Cod 1209111700

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Index:
1 SAFETY INSTRUCTIONS ..............................................................................................7
1.1 Symbols and signals ............................................................................................................. 7
1.2 General information ............................................................................................................ 7
1.3 Safety instructions for transportation and storage........................................................... 8
1.4 Safety instructions for commissioning ............................................................................... 8
1.5 Safety instructions for operation ........................................................................................ 9
1.6 Safety instructions for maintenance................................................................................. 10
1.7 Compatibility with RCD devices ...................................................................................... 10
1.8 Applicable standards ......................................................................................................... 11
1.9 Materials and disposal ....................................................................................................... 11
1.10 Warranty............................................................................................................................. 11
2 INTRODUCTION...........................................................................................................12
2.1 General information .......................................................................................................... 12
2.2 Product description............................................................................................................ 12
2.3 Identification....................................................................................................................... 13
3 MAIN HARDWARE FEATURES ..................................................................................15
3.1 Ambient conditions ............................................................................................................ 15
3.2 Vibrations and shocks........................................................................................................ 15
3.3 Available models ................................................................................................................ 15
3.4 Power supply ...................................................................................................................... 16
3.5 Technical characteristics ................................................................................................... 16
3.6 Other characteristics.......................................................................................................... 17
3.7 Main software features ...................................................................................................... 18
4 MOUNTING ..................................................................................................................19
4.1 How to suppress interference............................................................................................ 19
4.1.1 Grounding ............................................................................................................................ 19
4.1.2 Cable connections and shielding.......................................................................................... 20
4.1.3 General suggestions on cable connections........................................................................... 20
4.2 Dimensions and weights..................................................................................................... 21
4.3 Mounting instructions........................................................................................................ 22
4.4 Connectors layout .............................................................................................................. 23
4.5 Connectors .......................................................................................................................... 24
4.5.1 TPDM single axis................................................................................................................. 25
4.5.2 TPDM two axes (A+B)........................................................................................................ 26
4.5.3 TPDM three axes (A+B+C) ................................................................................................. 27
4.6 Cable lengths and cross sections....................................................................................... 28
4.7 Protective Earth connections ............................................................................................ 29
4.8 Requirements for UL Compliance.................................................................................... 29
4.8.1 Solid-State Motor Overload Protection................................................................................ 29
4.8.2 Solid-State Short-Circuit Protection .................................................................................... 29
4.8.3 Protective earth .................................................................................................................... 29

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4.9 Requirements for CSA Compliance ................................................................................. 30
4.10 Motor connection diagrams .............................................................................................. 31
4.11 Resolver connection diagrams .......................................................................................... 31
4.12 Signal cables connection .................................................................................................... 32
4.13 Encoder connection............................................................................................................ 32
4.14 Sinusoidal Encoder ............................................................................................................ 32
4.15 Sinusoidal Encoder + EnDat ............................................................................................. 33
4.16 Sinusoidal Encoder + Hiperface ....................................................................................... 34
4.17 Sinusoidal Encoder +Hall sensor...................................................................................... 35
4.18 SinCos (one sin wave per pole pitch)................................................................................ 36
4.19 DSL feedback...................................................................................................................... 37
4.20 Analog and digital I/Os connections................................................................................. 38
4.21 Frequency input/output connection ................................................................................. 39
4.22 Connecting the drive to the digital-lock........................................................................... 40
4.23 CAN line connection .......................................................................................................... 40
4.24 Layout ................................................................................................................................. 41
5 USING THE KEYBOARD .............................................................................................42
5.1 SD card management......................................................................................................... 44
5.1.1 Alarm codes ......................................................................................................................... 46
6 START-UP....................................................................................................................47
6.1 Setting the default parameters.......................................................................................... 47
6.2 Selection of motor type ...................................................................................................... 47
6.3 Changing motor data ......................................................................................................... 48
6.4 Setting feedback ................................................................................................................. 48
6.4.1 Select supply feedback......................................................................................................... 48
6.4.2 Feedback configuration........................................................................................................ 49
6.5 Feedback from incremental encoder................................................................................ 50
6.6 Encoder phasing................................................................................................................. 50
6.6.1 Type 1 phasing..................................................................................................................... 50
6.6.2 Type 2 phasing ..................................................................................................................... 51
6.6.3 Phasing procedure for encoder with EnDat, Hiperface or DSL digital interface ................ 52
6.6.4 Motor phases ........................................................................................................................ 52
6.7 First commissioning ........................................................................................................... 53
6.8 Speed control adjustment.................................................................................................. 54
7 ANALAOG, DIGITAL I/OS AND S.T.O. .......................................................................60
7.1 Digital I/Os.......................................................................................................................... 60
7.2 Analog inputs/outputs........................................................................................................ 62
7.3 STO...................................................................................................................................... 62
8 PARAMETERS AND PROGRAMMING .......................................................................63
8.1 Main parameters ................................................................................................................ 66
8.2 Binary parameters ............................................................................................................. 71
9 OPERATING MODES...................................................................................................77

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9.1 Position control................................................................................................................... 78
9.2 Torque control (operating mode 1) .................................................................................. 81
9.3 Digital Lock + Positioner (operating mode 13) ............................................................... 82
9.3.1 TAB0: profiles in memory................................................................................................... 82
9.4 Electronic cam (operating mode 14)................................................................................. 86
9.4.1 Positioning ........................................................................................................................... 86
9.4.2 Speed mode .......................................................................................................................... 87
9.4.3 Electronic cam...................................................................................................................... 87
9.4.4 OPM 14 Linear engage CAM .............................................................................................. 94
9.5 Electronic cam (op. mod. 11)............................................................................................. 96
9.5.1 Positioner ............................................................................................................................. 97
9.5.2 CAM1 and CAM2................................................................................................................ 97
9.5.2.1 Automatic activation of CAM tables ......................................................................... 101
9.6 Basic functions.................................................................................................................. 108
9.6.1 Homing function ................................................................................................................ 108
9.6.2 Speed adjustment ............................................................................................................... 109
9.6.3 Current or torque adjustment (typical)............................................................................... 109
9.6.4 Frequency input/output (Encoder ports) ............................................................................ 109
9.6.5 Value comparators ............................................................................................................. 110
9.6.6 Value capture ..................................................................................................................... 110
9.6.7 Output cam programmer .................................................................................................... 111
9.6.8 Analogue output programmable......................................................................................... 112
9.6.9 Master reference................................................................................................................. 112
9.6.10 Multiturn absolute encoder phasing on “zero” machine................................................ 112
9.6.11 FeedForward of speed loop............................................................................................ 114
9.6.12 Motor brake management .............................................................................................. 115
9.6.13 Encoder CAN................................................................................................................. 118
10 PROGRAMMING DIGITAL INPUTS/OUTPUTS .................................................120
10.1 The pico-PLC.................................................................................................................... 120
10.2 Programming with MotionWiz....................................................................................... 126
10.3 MotionWiz ........................................................................................................................ 127
11 SERIAL INTERFACE..........................................................................................128
11.1 Communication protocol................................................................................................. 128
12 CAN BUS INTERFACE.......................................................................................133
12.1 CANopen dsp402 (D version).......................................................................................... 133
12.1.1 Dictionary object summary of ds301 in drive................................................................ 134
12.1.2 Dictionary object summary of dsp402 in drive.............................................................. 135
12.1.2.1 Object 6040h: Controlword ....................................................................................... 139
12.1.2.2 Object 6041h: Statusword.......................................................................................... 141
12.1.2.3 Object 605Bh: Shutdown option code ....................................................................... 143
12.1.2.4 Object 605Ch: Disable operation option code ........................................................... 144
12.1.2.5 Object 605Ah: Quick stop option code...................................................................... 145
12.1.2.6 Object 605Eh: Fault reaction option code................................................................. 145
12.1.2.7 Object 6060h: Modes of operation............................................................................. 146
12.1.2.8 Object 6061h: Modes of operation display................................................................ 146
12.1.3 Functional description.................................................................................................... 147
12.1.3.1 Modes of operation function...................................................................................... 147

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12.1.4 Homing mode (operative mode 200) ............................................................................. 148
12.1.5 General information ....................................................................................................... 148
12.1.5.1 Input data description................................................................................................. 148
12.1.5.2 Output data description .............................................................................................. 149
12.1.5.3 Internal states ............................................................................................................. 149
12.1.5.3.1 Controlword of homing mode................................................................................ 149
12.1.5.3.2 Statusword of homing mode .................................................................................. 149
12.1.6 Object dictionary entries ................................................................................................ 150
12.1.6.1 Objects defined in this chapter................................................................................... 150
12.1.6.2 Objects defined in other chapters............................................................................... 150
12.1.7 Object description .......................................................................................................... 150
12.1.7.1 Object 607Ch: Home offset ....................................................................................... 150
12.1.7.2 Object 6098h: Homing method.................................................................................. 151
12.1.7.3 Object 6099h: Homing speeds ................................................................................... 151
12.1.7.4 Object 609Ah: Homing acceleration.......................................................................... 152
12.1.8 Functional description.................................................................................................... 153
12.1.8.1 Homing methods ........................................................................................................ 153
12.1.8.1.1 Method 1: Homing on the negative limit switch and index pulse ......................... 153
12.1.8.1.2 Method 2: Homing on the positive limit switch and index pulse .......................... 154
12.1.8.1.3 Methods 3 and 4: Homing on the positive home switch and index pul................. 154
12.1.8.1.4 Methods 5 and 6: Homing on the negative home switch and index pul. ............... 156
12.1.8.1.5 Methods 7 to 14: Homing on the home switch and index pulse............................ 156
12.1.8.1.6 Methods 15 and 16: Reserved................................................................................ 157
12.1.8.1.7 Methods 17 to 30: Homing without an index pulse............................................... 158
12.1.8.1.8 Methods 31 and 32: Reserved................................................................................ 158
12.1.8.1.9 Methods 33 to 34: Homing on the index pulse ...................................................... 158
12.1.8.1.10 Method 35: Homing on the current position......................................................... 158
12.1.9 Profile position mode (operative mode 201).................................................................. 159
12.1.9.1 Internal states ............................................................................................................. 159
12.1.9.1.1 Controlword of profile position mode ................................................................... 159
12.1.9.1.2 Statusword of profile position mode...................................................................... 159
12.1.9.2 Object dictionary entries ............................................................................................ 160
12.1.9.2.1 Objects defined in this chapter............................................................................... 160
12.1.9.2.2 Object 607Ah: Target position............................................................................... 160
12.1.9.2.3 Object 6081h: Profile velocity ............................................................................... 161
12.1.9.2.4 Object 6083h: Profile acceleration/deceleration .................................................... 161
12.1.9.2.5 Object 6085h: Quick stop deceleration.................................................................. 162
12.1.9.2.6 Object 6086h: Motion profile type......................................................................... 162
12.1.9.3 Functional description................................................................................................ 163
12.1.9.4 Functional description................................................................................................ 164
12.1.10 Interpolated Position Mode (operative mode 202) ........................................................ 166
12.1.10.1 Object 60C0h: Interpolation sub mode select........................................................ 167
12.1.10.2 Object 60C1h: Interpolation data record................................................................ 167
12.1.11 Mode Cyclic synchronous position (operative mode 203) ............................................ 170
12.1.11.1 Functional description............................................................................................ 171
12.1.11.2 Use of controlword and statusword ....................................................................... 172
12.1.11.3 Detailed object definitions ..................................................................................... 172
12.1.11.3.1 Object 60B0h: Position offset............................................................................... 172
12.1.11.3.2 Object 60B1h: Velocity offset .............................................................................. 173
12.1.11.3.3 Object 60B2h: Torque offset ................................................................................ 173

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12.1.12 Drive parameters ............................................................................................................ 174
12.1.12.1 OPM201 parameters .............................................................................................. 174
12.1.12.2 OPM202 parameters .............................................................................................. 175
12.1.12.3 OPM203 parameters (E5 version).......................................................................... 175
13 APPENDIX A: CONVENTIONS ..........................................................................177
14 APPENDIX B: SOFTWARE TIMING ..................................................................177
15 APPENDIX C: DEFAULT PROGRAM FOR PICO-PLC .....................................178
16 APPENDIX D: FLASH INFORMATION ..............................................................179
17 APPENDIX E: SWITCHING FREQUENCY.........................................................180
18 APPENDIX F: TPDM ALARMS ..........................................................................181
18.1 SUB Alarms table: ........................................................................................................... 182
19 APPENDIX G: SHIELD FASTENER...................................................................184
20 APPENDIX H: ETHERCAT OPTION ..................................................................185
20.1 Setting parameters of EtherCAT communication ........................................................ 186
21 APPENDIX I: ANALOG EXPANSION BOARD ..................................................187
21.1 Introduction...................................................................................................................... 187
21.2 Connectors lay-out ........................................................................................................... 188
21.3 Connections....................................................................................................................... 189
21.4 Characteristics.................................................................................................................. 190
21.5 Parameters........................................................................................................................ 190
22 APPENDIX L: ASYNCHRONOUS MOTOR V/F CONTROLLED .......................192
22.1 Parameters........................................................................................................................ 193
23 REVISION HISTORY OF THE USER MANUAL .................................................194

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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 equipment 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 drive,
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.
•Drives are only allowed to be operated on TT, TN grounded industrial mains having
maximum 480V+10% line to line rms voltage (480VAC 3-phase). Do not directly install the
drive on ungrounded (IT) or asymmetrically grounded mains. In case of ungrounded mains,
coupling with Dyn transformer with grounded secondary circuit is necessary. Refer to drive
technical data and wiring instruction.
•All the components used in the cabinet in which the drive is installed, (cables, contactors,
inductors and transformers, fuses, etc...), and the connected motor, must be in compliance
with the specification given in the product documentation, in addition to national regulations.
Make sure that the maximum surrounding air temperature 40°C (104°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.
•The user is responsible for over-current and short circuit protection of the drive. Read
carefully the specification given in the user manual.

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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 drive 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 cannot switched on
unintentionally. Wait at least 10 minutes before working on live parts after the unit has been
switched-off. In multi-axis systems with additional capacitor modules the DC capacitor
discharge time is considerably increased, e.g. to 30 min. in case of PSC modules. Check
discharge time instructions on all devices in the system for worst case conditions and make
sure the system is de-energized before servicing.
•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 10mm2
throughout all the length, or two cables with the same section as power supply cables.
•Before switching the equipment on, make sure that all devices, including the motor, 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! Danger of life!
•Dangerous movements can be caused by faulty control of the connected motor.
Same common examples 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 drive 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 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 decays.
•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
2006/95/EC
Low voltage directive
EN61800-5-1
Adjustable speed electrical power drive systems - Part 5-1: Safety
requirements- Electrical, thermal and energy
UL508C
(USA) Power Conversion Equipment
CSA22.2 Nr. 14-05
(Canada) Power Conversion Equipment
The drive is CE marked in accordance with the Low Voltage Directive when installed and operated
with reference to the product manual.
The drive is considered as a component in machinery. The complete machinery or installation may
only be put into service when in accordance with the safety considerations of the Machinery
Directive 2006/42/EC.
Electromagnetic Compatibility (Immunity/Emission)
2004/108/EC
EMC directive
EN 61800-3
Adjustable speed electrical power drive systems - Part 3: EMC
requirements and specific test methods
The drives are 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
recommendations given in the user manual. When used in the first environment (residential /
commercial environment), drives may produce radio-frequency interference dangerous for other
equipment: 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.
The Parker Hannifin Manufacturing Srl, 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
2.1 General information
This manual describes the installation and commissioning of the frequency converter TPD for
brushless motors.
Read carefully all the sections.
2.2 Product description
The TPD is a digital frequency converter for brushless motors and asynchronous motors (with or
without feedback). The operator interface based on parameters makes it easy to configure the
converter. Configurations of different kinds make it suitable for many applications.
The TPD converter allows controlling one, two or three brushless motors with a single converter.
This feature allows saving space into the electric panel in multi-axis configurations.
The drive includes a series of auxiliary functions that reduce the control electronics into applications,
with a considerable cost saving.
It uses widely diffused industrial programming standards and guarantees a high degree of freedom in
selecting inputs and outputs. The drive also offers the possibility to develop additional functions that
are not included in the basic functionality of the converter such as gain correction for loops based on
speed or space, monitoring the used torque for tool life control, etc.
It can be configured through the keyboard, the serial line or the CAN bus (via EtherCAT using an
optional card)

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2.3 Identification
The converters of the TPD series are available in different models (see par. “models available”). The
number that follows the TPD abbreviation corresponds to the rated current of the converter in
amperes.
Use the following table to specify the order code:
TPDM
A1
A2
A3
B1
C1
D1
E1
F1
G1
Where :
TPDM
servodrive series
A1
drive size axis A (nominal current: 2, 5, 8… A)
See par.
“available models”
A2
drive size axis B (nominal current: 2, 5, 8… A)
A3
drive size axis C (nominal current: 2, 5, 8… A)
B1
Field bus
C1
FBK sensor device
D1
Optional board
E1
Safety option
F1
Accessories
G1
Hardware version
A label attached on the right side (*) of the converter 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 Srl
(*) on the internal side of the protective cover, there is a label that shows the Model and the Serial
Number. Pay attention, before opening the protective cover, wait 5 minutes after have disconnected
the mains supply.

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An example of this label is given below.
The performance of converter is guaranteed only with synchronous
motors with permanent magnets
MB and SMB Series that have been manufactured by us.
Model
Output voltage
Serial number
Input voltage
Output frequency
Input current
Output current

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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
IP20 (only in close electric cabinet)
UL open type equipment
Pollution degree
2 or lower (no conductive dust allowed)
(*) up to +45°C (113°F)
(**)For higher installation altitude, derate the output current by 1.5% each 100m up to 2000m
maximum
3.2 Vibrations and shocks
Vibration
(IEC/EN 61800-5-1)
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
3.3 Available models
Available models
Model
N. axes
Mec. size
Model
N. axes
Mec. size
5 A
1
1
8 A + 8 A
2
1
10 A
1
1
15 A + 5 A
2
1
15 A
1
1
2 A + 2 A + 2 A
3
1
30 A
1
2
5 A + 5 A + 5 A
3
1
2 A + 2 A
2
1
8 A + 5 A + 5 A
3
1
5 A + 5 A
2
1

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3.4 Power supply
Control stage
Modules -
1 axis
2 axes 3 axes
5
10
15
30
Supply voltage
V=
24V (±10%)
Max ripple
Vpkpk
Do not go over the range
Current
A
1
1
1
1,5
1,3
1,5
Control electronics dissipation
W
24
24
24
36
31
36
Stationary brake
Supply voltage
V=
24V (±10%)
Max current (per each axis) A= 1,6
Max total current A= 1,6 3,2 3,2
Power stage
DC voltage supply
V=
300 ... 750
3.5 Technical characteristics
Description
UdM
Value
Models
-
2A
5A
8A
10A
15A
30A
DC voltage range
V=
300 ... 750
Rated output current
Arms
2
5
8
10
15
30
Peak output current (2 sec)
Arms
4
10
16
20
30
60
Shaft power
kW
1
2,7
4,3
5,3
8
16
hp
1,3
3,6
5,8
7,1
10,7
21,5
Continuous service installed load
kW
1,2
3
4,8
6
9
18
hp
1,6
4,0
6,4
8,0
12,1
24,1
Power stage dissipation
W
20
45
75
65
105
230
Switching frequency
kHz
8
4
Output frequency
Hz
450
Modules -
1 axis
2 axes
5
10
15
30
2+2
5+5
8+8
15+5
Internal fan capacity
m3/h
27
35
100
35
Internal DC capacitors (±20%)
µF
110
220
440
220
Max continuous module output
current
A 5 10 15 30 4 10 16 16*
Modules -
3 axes
2+2+2
5+5+5
8+5+5
Internal fan capacity
m3/h
35
Internal DC capacitors (±20%)
µF
220
Max continuous module output
current
A 6 15 16*
(*) the max continuous module current is clamped to 16A

Parker Hannifin Manufacturing Srl user’s manual TPDM
17
3.6 Other characteristics
auxiliary encoder(1 per module)
Auxiliary encoder input
Max frequency encoder input
-
kHz
in quadrature
2000
RS-422 encoder simulation output
Max frequency
steps/rev
kHz
22…218
2000
4 digital inputs
input impedance
Input High voltage range
Input Low voltage range
Type of driving required
Reaction time
kΩ
V
V
-
µs
20 ±5%
15...24
0...12
PNP, NPN
< 2,5
2 digital outputs open collector PNP
External supply
Output High voltage range
Output Low voltage range
Max current for single output
Max current overload / Short circuit
pull-down internal
rise time
rise time, with 50mA load
Vdc
V
V
mA
mA
kΩ
µs
µs
5 – 24 (±10%)
> (Vsupply–1)
<1
100
500/1500
20
≤200
≤20
1 differential analog reference
voltage
CMR
resolution
input impedance
max frequency
V
dB
bit
kΩ
Hz
±10
>80
10
8.61kΩ± 5%
2000
1 single ended analog outputs (referred to 0VA)
voltage
max current
resolution
Overload / Short circuit protection
V
mA
bit
-
±10
1,5
10
yes

Parker Hannifin Manufacturing Srl user’s manual TPDM
18
3.7 Main software features
The following functions have been implemented in the basic software:
Speed controller
Advanced manager of torque limits
Management of speed windows
Torque motor control
Torque control with speed control overlaying
Positioning with trapezoidal Speed profiles
Provides the functions of an electrical shaft with variable ratio and phase correction
Electronic cam
Simulates a stepper motor
It is provided with an internal PLC for programming inputs/outputs
Serial interface RS485 integrated
CAN bus interface

Parker Hannifin Manufacturing Srl user’s manual TPDM
19
4 MOUNTING
•The converter must be mounted vertically with the power block
•A space of at least 100 mm. must be left free above and beneath the converter.
4.1 How to suppress interference
In order to meet the product requirements regarding electromagnetic compatibility, the installation
must be carried out according to the following instructions.
Because of strong PWM voltage fronts, undesirable currents of significant force can sometimes
circulate through capacitive couplings and grounding systems (conducted interference). Besides, also
high frequency interferes are generated in form of radiation, especially through the motor cable
(radiated interference).
The reduction/suppression of both conducted and radiated interference can be obtained through
grounding, shielding and filtering. In particular filters reduce the interference conducted in the cables
and the return of interference conducted at the source (the frequency converter) by using paths with
the lowest possible impedance. In this way other systems connected to the same electrical line can be
protected effectively and the frequency converter will also be protected from the interference of other
systems.
Basically, the criteria are essentially based on grounding, filtering and shielding.
4.1.1 Grounding
In the electric panels where the drives are usually installed there are two ground systems:
- EMC ground, or HF reference (high frequency), represented by the wall made of non-painted metal,
onto which drives and filters are fixed.
- The safety ground, or PE (protective earth), according to the EN60204-1 standard
Fix drive and mains filters, the 24Vdc power supply etc. on the metal wall, making sure that there is a
proper electric contact (HF connection).
Carry the safety ground using cables having a minimum section of 10mm²