Parker P Series User manual

Parker Hannifin
P series User Guide １
P series –New Servo System
P Series User Guide
1. Effective day: September 2014
Rev.1.0

Parker Hannifin
P series User Guide ２
User Information
Warning
P series products are used to control electrical and mechanical components
of motion control system. You should be test your motion system for safety
under all potential conditions.
Failure to do so can result in damage to equipment and/or serious injury to
personnel.
P Series products and the information in this user guide are the proprietary property of
Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for
any purpose not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right
to change this user guide and software and hardware mentioned therein at any time
without notice.
In no event will the provider of the equipment be liable for any incidental, consequential, or
special damages of any kind or nature whatsoever, including but not limited to lost profits
arising from or in any way connected with the use of the equipment or this user guide.
© 2014 Parker Hannifin Corporation
All Rights Reserved
Technical Assistance
Contact your local automation technology center (ATC) or distributor.
Korea
Parker Korea Ltd.
Automation Korea Division
759-10, Geumui-ri, Jangan-myeon,
Hwaseong-si, Gyeonggi-do
445-941, Korea
Email: [e-mail]
China
Parker Hannifin Motion & Control
(Shanghai) Co., Ltd.
Greater China Division
280 Yunqiao Road, Jin Qiao Export
Processing Zone, Shanghai 202106, China
Email: tzhon[email protected]om

Parker Hannifin
P series User Guide ３
Table of Contents
Table of Figures.................................................................................................... ６
Table of Tables...................................................................................................... ８
Important User Information.............................................................................. １３
Change Summary.............................................................................................. １４
1. Introduction.................................................................................................... 15
1.1 P Series Products Overview..............................................................................................16
1.1.1 P series Features......................................................................................................................16
1.1.2 PD Drive Names.....................................................................................................................16
1.1.3 Input Power.............................................................................................................................16
1.1.4 Front panel description of representative drives.....................................................................17
1.1.5 PM Motor Names....................................................................................................................18
1.1.6 Options....................................................................................................................................19
1.2 Compatible Parker Product...............................................................................................19
1.3 Assumptions of Technical Experience..............................................................................20
1.4 Technical Support.............................................................................................................20
2. Mechanical Installation ................................................................................. 21
2.1 Environment......................................................................................................................22
2.2 Dimensions .......................................................................................................................23
2.2.1 PD Drive Dimensions (PD-01xx to PD-35xx)........................................................................23
2.2.2 PM Motor Dimensions (FAL Series)......................................................................................24
2.2.3 PM Motor Dimensions (FBL Series)......................................................................................25
2.2.4 PM Motor Dimensions (FCL Series)......................................................................................26
2.2.5 PM Motor Dimensions (FE Series) ........................................................................................27
2.2.6 PM Motor Dimensions (FF Series).........................................................................................28
2.3 Weight...............................................................................................................................29
2.4 Mounting Guidelines ........................................................................................................29
2.4.1 Cable Routing.........................................................................................................................29
2.4.2 Panel Mounting.......................................................................................................................29
2.4.3 Preventing Excessive Impact..................................................................................................31
2.4.4 Combining with Load Device.................................................................................................31
2.4.5 Pulley Combining...................................................................................................................32
3. Electrical Installation .................................................................................... 33
3.1 Installation Safety Requirements......................................................................................34
3.1.1 Precautions..............................................................................................................................34
3.1.2 Auto-Configuration for Encoders...........................................................................................34
3.2 System Installation Overview...........................................................................................34

Parker Hannifin
P series User Guide ２
3.3 Power Supply....................................................................................................................35
3.3.1 Power Circuit Electronics Specification.................................................................................35
3.4 Multiple Drive Installations..............................................................................................36
3.4.1 Drive Node Address Setting...................................................................................................36
3.4.2 Terminating Resistance Setting ..............................................................................................37
3.5 Brake Relay (Optional).....................................................................................................37
3.5.1 Dynamic Brake.......................................................................................................................37
3.5.2 Signal Output Function Setting...............................................................................................38
3.6 Regeneration Protection....................................................................................................39
3.6.2 External Resistor Setting ........................................................................................................42
3.6.3 Other Consideration................................................................................................................43
3.7 Drive Status Indicators......................................................................................................44
3.7.1 PD Drive Alarm Code List .....................................................................................................45
3.7.2 PD Drive Warning Code List..................................................................................................46
3.8 Connector Descriptions.....................................................................................................46
3.9 Installation Test.................................................................................................................48
3.9.1 Testing the PD Drive ..............................................................................................................48
3.10 Drive Blocks ...................................................................................................................49
3.11 Wiring.............................................................................................................................50
3.11.1 Power....................................................................................................................................50
3.11.2 Feedback Signal....................................................................................................................52
3.11.3 I/O Signal Wiring..................................................................................................................56
3.11.4 Pulse Heat Signal..................................................................................................................59
4. Communications and I/O............................................................................... 61
4.1 Overview...........................................................................................................................62
4.2 RS-422 Communication....................................................................................................62
4.2.1 Terminal Configuration ..........................................................................................................63
4.2.2 Establishing Communication..............................................................................................63
4.2.3 Packet Structure..................................................................................................................64
4.2.4 Protocol Command Code Description................................................................................66
4.3 Communication Address Table.........................................................................................70
4.3.1 System Configuration Parameters...........................................................................................70
4.3.2 Control Parameters .................................................................................................................71
4.3.3 I/O Parameters ........................................................................................................................72
4.3.4 Speed Operation Parameters...................................................................................................73
4.3.5 Miscellaneous Parameters.......................................................................................................74
4.3.6 Advanced Control Parameters................................................................................................75
4.3.7 Monitoring Parameters ...........................................................................................................75
4.3.8 Procedures and Alarm History................................................................................................76
4.3.9 3rd Party Motor Parameters.....................................................................................................76
4.3.10 CiA402 Parameters...............................................................................................................77
4.3.11 Index Related Parameters .....................................................................................................79
4.3.12 Index00~63 Internal Variable Communication Address ......................................................80
4.4 I/O .....................................................................................................................................81
4.4.1 Digital I/O...............................................................................................................................81
4.4.2 Analog I/O ..............................................................................................................................83
4.4.3 Pulse Heat Input......................................................................................................................84

Parker Hannifin
P series User Guide ３
4.4.4 Encoder Output.......................................................................................................................85
4.5 I/O Signal Setting..............................................................................................................86
4.5.1 Allocating Digital Input Signals .............................................................................................86
4.5.2 Allocating Digital Output Signals...........................................................................................89
4.5.3 Using User I/O........................................................................................................................92
5. Tuning ............................................................................................................ 97
5.1 Servo Tuning Overview....................................................................................................98
5.2 Position Variable Overview..............................................................................................98
5.2.1 Commanded Position..............................................................................................................98
5.2.2 Actual Position........................................................................................................................99
5.3 Servo Response Overview................................................................................................99
5.3.1 Stability...................................................................................................................................99
5.3.2 Position Response Types........................................................................................................99
5.3.3 Performance Measurements..................................................................................................100
5.4 Automatic Gain Tuning ..................................................................................................100
5.4.1 Related Objects.....................................................................................................................101
5.5 Manual Gain Tuning.......................................................................................................102
5.5.1 Speed Controller Tuning...................................................................................................102
5.5.2 Position Controller Tuning ...............................................................................................102
5.6 Vibration Control............................................................................................................103
5.7 Filters ..............................................................................................................................103
5.7.1 Related Objects.....................................................................................................................104
5.7.2 Adaptive Filter......................................................................................................................104
5.7.3 Related Objects.....................................................................................................................105
5.8 Analog Monitor...............................................................................................................105
5.8.1 Related Objects.....................................................................................................................106
5.8.2 Analog monitor output mode(0x2220) setting..................................................................107
5.8.3 Analog monitor channel 1 setting (0x2221).....................................................................107
5.8.4 Setting Example................................................................................................................108
5.9 Gain Conversion .............................................................................................................109
5.9.1 Gain Group Conversion........................................................................................................109
5.9.2 P/PI Control Conversion.......................................................................................................110
6. Command Reference.................................................................................... 113
6.1 Pulse Input Position Operation .......................................................................................114
6.1.1 Function Setting of Pulse Input Logic..................................................................................115
6.1.2 Related Objects.....................................................................................................................115
6.1.3 Block Diagram......................................................................................................................117
6.2 Function Setting of Pulse Input Filter.............................................................................118
6.3 Function Setting of PCLEAR .........................................................................................118
6.4 Homing ...........................................................................................................................118
6.4.1 Homing Methods ..................................................................................................................119
6.4.2 Related Objects.....................................................................................................................120
6.5 Electronic Gear Setting...................................................................................................131
6.5.1 Electronic Gear.....................................................................................................................131
6.5.2 Example of Electronic Gear Setting .....................................................................................133

Parker Hannifin
P series User Guide ４
6.6 Speed Control Setting.....................................................................................................134
6.6.1 Smooth Acceleration/Deceleration.......................................................................................134
6.6.2 Servo Lock Function.............................................................................................................135
6.6.3 Related Signal.......................................................................................................................135
6.7 Position Control Setting..................................................................................................136
6.7.1 Position Command Filter......................................................................................................136
6.7.2 Signals Related with Position Control..................................................................................138
6.8 Limit Setting ...................................................................................................................139
6.8.1 Forward/Reverse Limit Setting.............................................................................................139
6.8.2 Brake Output Signal Function Setting..................................................................................140
6.8.3 Torque Limit Setting.............................................................................................................142
6.9 Absolute Encoder Data Transmission.............................................................................146
6.10 Touch Probe Function...................................................................................................147
7. Procedure..................................................................................................... 150
7.1 Procedure Function.........................................................................................................151
7.1.1 Manual Jog Operation...........................................................................................................151
7.1.2 Program Jog Operation.....................................................................................................152
7.1.3 Alarm Record Detection...................................................................................................153
7.1.4 Automatic Gain Tuning....................................................................................................154
7.1.5 Index Pulse Probing..........................................................................................................154
7.1.6 Absolute Encoder Reset....................................................................................................155
7.1.7 Instantaneous Maximum Torque Reset ............................................................................156
7.1.8 Phase Current Offset Tuning ............................................................................................156
7.1.9 Software Reset......................................................................................................................157
7.1.10 Commutation ......................................................................................................................157
8. Indexer.......................................................................................................... 158
8.1 Indexer Overview............................................................................................................159
8.1.1 Control Methods...................................................................................................................159
8.1.2 Coordinate Setting............................................................................................................162
8.1.3 Index Structure......................................................................................................................164
8.2 Indexing Position Operation ...........................................................................................166
8.2.1 Concept of Index...................................................................................................................166
8.2.2 Absolute and Relative Move.................................................................................................171
8.2.3 Registration Absolute and Relative Move........................................................................172
8.2.4 Blending Absolute and Relative Move.............................................................................173
8.2.5 Rotary Absolute and Relative Move.................................................................................173
8.2.6 Rotary Shortest Move...........................................................................................................174
8.2.7 Rotary Positive and Negative Move.....................................................................................175
8.3 Functions of Index Input Signal......................................................................................176
8.4 Functions of Index Output Signal...................................................................................179
8.5 Analog Speed Override...................................................................................................180
9. Object........................................................................................................... 181
9.1 Object Dictionary............................................................................................................182
9.1.1 Data Type..........................................................................................................................182
9.1.2 General Objects ................................................................................................................182
9.1.3 Manufacturer Specific Objects .........................................................................................186

Parker Hannifin
P series User Guide ５
9.1.4 Index Objects....................................................................................................................236
10. PM Motors ................................................................................................... 255
10.1 Specification .................................................................................................................256
10.2 FAL Series N-T Curves................................................................................................261
10.3 FBL Series N-T Curves ................................................................................................262
10.4 FCL Series N-T Curves ................................................................................................263
10.5 FE Series N-T Curves...................................................................................................266
10.6 FF Series N-T Curves ...................................................................................................271
11. Troubleshooting........................................................................................... 274
11.1 Troubleshooting Guidelines..........................................................................................275
11.2 Servo Alarm and Check List.........................................................................................275
11.3 Servo Warning and Check List.....................................................................................277
Appendix A Firmware Update............................................................................ 279
Using USB OTG...................................................................................................................280
Using Drive Support Tool.....................................................................................................281

Parker Hannifin
P series User Guide ６
Table of Figures
Figure 1. PD Drive Names.................................................................................................................16
Figure 2. 400W Drive Front Description ...........................................................................................17
Figure 3. 1000W Drive Front Description.........................................................................................18
Figure 4. 3500W Drive Front Description.........................................................................................18
Figure 5. PM Motor Names................................................................................................................19
Figure 6. PD Drive Dimensions.........................................................................................................23
Figure 7. PM-FAL series Motor Dimension....................................................................................... 24
Figure 8. PM-FBL series Motor Dimension....................................................................................... 25
Figure 9. PM-FCL series Motor Dimension ......................................................................................26
Figure 10. PM-FE series Motor Dimension.......................................................................................27
Figure 11. PM-FF series Motor Dimension.......................................................................................28
Figure 12. PD-04P Mounting Information.........................................................................................30
Figure 13. PD-10P Mounting Information.........................................................................................30
Figure 14. PD-35P Mounting Information.........................................................................................31
Figure 15. System Installation Overview............................................................................................35
Figure 16. Dynamic Brake Sequence .................................................................................................38
Figure 17. PD Drive Block Diagram .................................................................................................49
Figure 18. Drive Wiring Example ......................................................................................................50
Figure 19. Example of Digital Input Signal Wiring............................................................................57
Figure 20. Example of Digital Output Signal Wiring......................................................................... 58
Figure 21. Example of Analog Input Signal Wiring ...........................................................................58
Figure 22. Example of Analog Output Signal Wiring.........................................................................59
Figure 23. Example of Pulse Heat Signal Wiring...............................................................................59
Figure 24. Example of Open Collector Pulse Input Signal Wiring ...................................................60
Figure 25. Example of NPN Open Collector Pulse Command Wiring...............................................60
Figure 26. RS-422 Multi-Drop Connection Example......................................................................... 62
Figure 27. Allocating Digital Input Signals....................................................................................... 87
Figure 28. Allocating Digital Output Signals.....................................................................................90
Figure 29. Commanded Position........................................................................................................98
Figure 30. Position Response Types.................................................................................................100
Figure 31. Control Loop Block Diagram .........................................................................................101
Figure 32. Vibration Control............................................................................................................103

Parker Hannifin
P series User Guide ７
Figure 33. Meaning of Notch Filter ................................................................................................. 104
Figure 34. Adaptive Filter Diagram................................................................................................. 105
Figure 35. Analog Monitor...............................................................................................................106
Figure 36. Analog Monitor Output Setting.......................................................................................107
Figure 37. Setting Example..............................................................................................................108
Figure 38. P/PI Control Conversion ................................................................................................ 111
Figure 39. Example of P/PI Conversion........................................................................................... 112
Figure 41.Inner Block Diagram under the Pulse Input Position .................................................... 117
Figure 42. Homing Function............................................................................................................ 119
Figure 43. Speed Control..................................................................................................................134
Figure 44. Smooth Acceleration and Deceleration..........................................................................135
Figure 45. Position Command Filter................................................................................................137
Figure 46. Brake Output Function ...................................................................................................140
Figure 47. Torque Limit....................................................................................................................145
Figure 48. Absolute Encoder Data Sequence...................................................................................146
Figure 49. Touch Probe Function.....................................................................................................147
Figure 50. Touch Probe Function Timing Diagram .........................................................................149
Figure 51. Program Jog Operation..................................................................................................152
Figure 53. Internal Blocks of Indexing Position Mode ....................................................................162
Figure 54. Analog Speed Override...................................................................................................180
Figure 55. FAL Series N-T Curves....................................................................................................262
Figure 56. FBL Series N-T Curves...................................................................................................263
Figure 57. FCL Series N-T Curves...................................................................................................265
Figure 58. FE Series N-T Curves .....................................................................................................271
Figure 59. FF Series N-T Curves .....................................................................................................273

Parker Hannifin
P series User Guide ８
Table of Tables
Table 1. Output Power Level.............................................................................................................17
Table 2. Drive Installation Environment ............................................................................................22
Table 3. PD Drive Dimensions...........................................................................................................23
Table 4. PM-FAL series Motor Dimension.........................................................................................24
Table 5. PM-FBL series Motor Dimension.........................................................................................25
Table 6. PM-FCL series Motor Dimension .......................................................................................26
Table 7. PM-FE series Motor Dimension...........................................................................................27
Table 8. PM-FF series Motor Dimension...........................................................................................28
Table 9. PD Drive Weight...................................................................................................................29
Table 10. Pulley Combining Information ...........................................................................................32
Table 11. Power Circuit Electronics Specification.............................................................................35
Table 12. Drive Node Address Setting................................................................................................36
Table 13. Dynamic Brake Related Objects.........................................................................................38
Table 14. Regeneration Related Objects ............................................................................................39
Table 15. Internal Resistor Setting.....................................................................................................40
Table 16. External Regeneration Resistor Setting..............................................................................43
Table 17. PD Drive Alarm Code List.................................................................................................45
Table 18. PD Drive Warning Code List..............................................................................................46
Table 19. RS-422 Terminal Specification............................................................................................63
Table 20. RS-422 Connector Pin Description ....................................................................................64
Table 21. RS-422 Transmission Packet Structure...............................................................................64
Table 22. RS-422 Reception Packet Structure ....................................................................................65
Table 23. Protocol Packet Code Description .....................................................................................65
Table 24. Exception Code Description...............................................................................................66
Table 25. Read Holding Register........................................................................................................66
Table 26. Example of Reading Single Parameter...............................................................................67
Table 27. Example of Reading Multiple Parameters..........................................................................67
Table 28. Read Input Signal ...............................................................................................................68
Table 29. Example of Reading Drive Status.......................................................................................68
Table 30. Write Single Register ..........................................................................................................69
Table 31. Example of Write Single Register .......................................................................................69
Table 32.Write Multi Register............................................................................................................. 69

Parker Hannifin
P series User Guide ９
Table 33. Example of Writing Multiple Parameters...........................................................................70
Table 34. System Configuration Parameters......................................................................................71
Table 35. Control Parameters ............................................................................................................72
Table 36. I/O Parameters ...................................................................................................................73
Table 37. Speed Operation Parameters..............................................................................................74
Table 38. Miscellaneous Parameters..................................................................................................75
Table 39. Advanced Control Parameters............................................................................................75
Table 40. Monitoring Parameters.......................................................................................................76
Table 41. Procedures and Alarm History ...........................................................................................76
Table 42. 3rd Party Motor Parameters................................................................................................77
Table 43. CiA402 Parameters ...........................................................................................................78
Table 44. Index Related Parameters...................................................................................................80
Table 45. Index Variable Communication Address.............................................................................80
Table 46. Example of Internal Variable of Index00............................................................................80
Table 47. Digital Input Signal Description.........................................................................................82
Table 48. Digital Output Signal Description......................................................................................83
Table 49. Analog Input Signal Description ........................................................................................84
Table 50. Analog Output Signal Description......................................................................................84
Table 51. Pulse Train Input Signal Description ................................................................................. 84
Table 52. Encoder Output Signal Description....................................................................................85
Table 53. Encoder Output Signal of Open Collector Method.............................................................86
Table 54. Encoder Output Related Objects ........................................................................................86
Table 55. Allocating Digital Input Related Objects............................................................................88
Table 56. Example of Signal Input Allocation....................................................................................89
Table 57. Allocating Digital Output Related Objects.........................................................................91
Table 58. Example of Signal Output Allocation ................................................................................92
Table 59. User Input Related Objects................................................................................................94
Table 60. User Output Related Objects.............................................................................................96
Table 61. Physical Output Descriptions.............................................................................................96
Table 62. Bit Mask Descriptions.........................................................................................................96
Table 63. Auto Tuning Related Objects ............................................................................................ 101
Table 64. Notch Filter Related Objects ............................................................................................104
Table 65. Adaptive Filter Related Objects........................................................................................105
Table 66. Analog Monitor Related Objects ......................................................................................106

Parker Hannifin
P series User Guide １０
Table 67. Analog Monitor Channel Setting......................................................................................108
Table 68. Gain Conversion Description...........................................................................................109
Table 69. Gain Conversion Related Objects..................................................................................... 110
Table 70. P/PI control Related Objects............................................................................................ 112
Table 71. Pulse Input Logic Related Objects.................................................................................... 116
Table 72. Pulse Input Filter Related Objects.................................................................................... 118
Table 73. Function Setting of PCLEAR............................................................................................ 118
Table 74. Homing Methods...............................................................................................................120
Table 75. Homing Related Objects...................................................................................................120
Table 76. Examples of Gear Setting .................................................................................................134
Table 77. Servo Lock Function.........................................................................................................135
Table 78. Servo Lock Function Related Objects...............................................................................136
Table 79. Position Command Filter Related Objects.......................................................................137
Table 80. Position Control Related Objects ..................................................................................... 138
Table 81. Limit Setting Related Objects ...........................................................................................139
Table 82. Torque Limit Related Objects............................................................................................145
Table 83. Touch Probe Function Related Objects ............................................................................148
Table 84. Procedure Function ..........................................................................................................151
Table 85. Procedure Function Related Objects................................................................................152
Table 86. Program Jog Operation Related Objects..........................................................................153
Table 87. Alarm Detection Related Objects......................................................................................154
Table 88. Index Pulse Probing Related Objects ...............................................................................155
Table 89. Absolute Encoder Reset Related Objects..........................................................................156
Table 90. Instantaneous Maximum Torque Reset Related Objects...................................................156
Table 91. Phase Current Offset Related Objects..............................................................................157
Table 92. Commutation Related Objects..........................................................................................157
Table 93. Indexing Position Operation Related Objects ..................................................................160
Table 94. Index Structure..................................................................................................................165
Table 95. Analog Speed Override Related Objects...........................................................................180
Table 96. Object Dictionary Data Type............................................................................................ 182
Table 97. Hardware Version.............................................................................................................183
Table 98. Software Version ...............................................................................................................183
Table 99. Store Parameters............................................................................................................... 184
Table 100. Restore Parameters.........................................................................................................185

Parker Hannifin
P series User Guide １１
Table 101. Identity Object ................................................................................................................185
Table 102. Encoder Type Object.......................................................................................................186
Table 103. Encoder Pulse per Revolution ........................................................................................187
Table 104. Touch Probe Functions...................................................................................................249
Table 105. Touch Probe Status..........................................................................................................249
Table 106. Digital Input Status.........................................................................................................252
Table 107. Physical Output Descriptions.........................................................................................253
Table 108. Bit Mask Descriptions.....................................................................................................253
Table 109. Supported Modes ............................................................................................................254
Table 110. PM-FAL Series Features .................................................................................................256
Table 111. PM-FBL Series Features.................................................................................................256
Table 112. PM-FCLxxAMxx Series Features....................................................................................257
Table 113. PM-FCLxxDMxx Series Features................................................................................... 257
Table 114. PM-FExxAMxx Series Features......................................................................................258
Table 115. PM-FExxDMxx Series Features......................................................................................258
Table 116. PM-FExxGMxx Series Features......................................................................................259
Table 117. PM-FExxMMxx Series Features.....................................................................................259
Table 118. PM-FFxxAM/MMxx Series Features ..............................................................................260
Table 119. PM-FFxxDM/GMxx Series Features ..............................................................................260
Table 120. Servo Alarm Check List ..................................................................................................277
Table 121. Servo Warning Check List...............................................................................................278

Parker Hannifin
P series User Guide １２
Warning —Risk of damage and/or personal injury
The P series described in this guide contain no user-serviceable parts.
Attempting to open the case of any unit, or to replace any internal
component, may result in damage to the unit and/or personal injury. This
may also void the warranty.
Symbols Description
Protective Earth Ground
Functional Earth (Ground) Terminal
Shield, Frame, or Chassis Terminal
Caution Risk of Electrical Shock
Caution, Refer to Accompanying Documentation

Parker Hannifin
P series User Guide １３
Important User Information
It is important that motion control equipment is installed and operated in such a way that all
applicable safety requirements are met. It is your responsibility as an installer to ensure
that you identify the relevant safety standards and comply with them; failure to do so may
result in damage to equipment and personal injury. In particular, you should study the
contents of this user guide carefully before installing or operating the equipment.
The installation, set up, test, and maintenance procedures given in this User Guide should
only be carried out by competent personnel trained in the installation of electronic
equipment. Such personnel should be aware of the potential electrical and mechanical
hazards associated with mains-powered motion control equipment—please see the safety
warnings below. The individual or group having overall responsibility for this equipment
must ensure that operators are adequately trained.
Under no circumstances will the suppliers of the equipment be liable for any incidental,
consequential or special damages of any kind whatsoever, including but not limited to lost
profits arising from or in any way connected with the use of the equipment or this guide.
Warning
High-performance motion control equipment is capable of producing rapid
movement and very high forces. Unexpected motion may occur especially during the
development of controller programs. KEEP WELL CLEAR of any machinery driven by
stepper or servo motors. Never touch any part of the equipment while it is in operation.
This product is sold as a motion control component to be installed in a complete system
using good engineering practice. Care must be taken to ensure that the product is
installed and used in a safe manner according to local safety laws and regulations. In
particular, the product must be positioned such that no part is accessible while power may
be applied.
This and other information from Parker Hannifin Corporation, its subsidiaries, and
authorized distributors provides product or system options for further investigation by
users having technical expertise. Before you select or use any product or system, it is
important that you analyze all aspects of your application and review the information
concerning the product in the current product catalog. The user, through its own analysis
and testing, is solely responsible for making the final selection of the system and
components and assuring that all performance, safety, and warning requirements of the
application are met.
If the equipment is used in any manner that does not conform to the instructions given in
this user guide, then the protection provided by the equipment may be impaired.
The information in this user guide, including any apparatus, methods, techniques, and
concepts described herein, are the proprietary property of Parker Hannifin or its licensors,
and may not be copied disclosed, or used for any purpose not expressly authorized by the
owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right
to modify equipment and user guides without prior notice. No part of this user guide may
be reproduced in any form without the prior consent of Parker Hannifin.

Parker Hannifin
P series User Guide １４
Change Summary

Parker Hannifin
P series User Guide １５
1.Introduction
IN THIS CHAPTER
1.1 P Series Products Overview
1.1.1 P series Features
1.1.2 PD Drive Names
1.1.3 Input Power
1.1.4 Front panel description of representative drives
1.1.5 PM Motor Names
1.1.6 Options
1.2 Compatible Parker Product
1.3 Assumptions of Technical Experience
1.4 Technical Support

Parker Hannifin
P series User Guide 16
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
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.
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 has various range from 50W to
3500W. And 0.16Nm to 16.7Nm rated torque within 3000rpm rated speed can be available.
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.
1.1.2 PD Drive Names
The following diagram explains the PD drive part numbers :
Figure 1. PD Drive Names
1.1.3 Input Power
Motor Power
PD - 04xx, PD - 10xx
PD - 35xx…………………….....................230 VAC, 3-phase, 50/60Hz
Control Power
PD - 04xx, PD - 10xx
PD - 35xx…………………….....................230 VAC, Single-phase, 50/60Hz

Parker Hannifin
P series User Guide 17
In Table 1, the maximum current is given at 230 VAC input, which equates to a motor bus
voltage of 340 VDC.
Motor Output Power
PD-04
PD-10
PD-35
Shaft Power
@Continuous Current
400 Watts
1,000 Watts
3,500 Watts
Shaft Power
@ Peak Current
1,200 Watts
3,000 Watts
10,500 Watts
Drive Output Power
Continuous Current
(RMS)
3.0 Amps
6.75 Amps
16.7 Amps
Peak Current (RMS)
9.0 Amps
20.25 Amps
50.1 Amps
Bus Voltage
340Vdc
Drive Input Voltage
230 VAC, 3Ø , 50/60Hz
Drive Control Voltage
230 VAC, 1Ø , 50/60Hz
Table 1. Output Power Level
1.1.4 Front panel description of representative drives
Figure 2. 400W Drive Front Description

Parker Hannifin
P series User Guide 18
Figure 3. 1000W Drive Front Description
Figure 4. 3500W Drive Front Description
1.1.5 PM Motor Names
The following diagram explains the PM motor part numbers :