Parker P Series User manual

Parker Hannifin
P Series User Guide １
P Series User Guide
88-032555-01A June 1, 2015
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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.
North America
Parker Hannifin
Electromechanical Automation North America
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone]
Fax: [phone]
Email: [e-mail]
Internet: http://www.parkermotion.com
Asia
Parker Korea Ltd.
Automation Korea Division
759-10, Geumui-ri, Jangan-myeon,
Hwaseong-si, Gyeonggi-do
445-941, Korea
Email: ak[email protected]
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P Series User Guide １
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.........................................................................................................17
1.1.2 PD Drive Names ........................................................................................................17
1.1.3 Input Power................................................................................................................17
1.1.4 Front panel description of representative drives........................................................18
1.1.5 PM Motor Names.......................................................................................................20
1.1.6 Options.......................................................................Error! Bookmark not defined.
1.2 Compatible Parker Product...............................................................................................21
1.3 Assumptions of Technical Experience..............................................................................21
1.4 Technical Support.............................................................Error! Bookmark not defined.
2. Mechanical Installation......................................................................................................22
2.1 Environment......................................................................................................................23
2.2 Dimensions .......................................................................................................................24
2.2.1 PD Drive Dimensions (PD-04xx to PD-35xx)...........................................................24
2.2.2 PM Motor Dimensions (FAL Series).........................................................................25
2.2.3 PM Motor Dimensions (FBL Series).........................................................................26
2.2.4 PM Motor Dimensions (FCL Series).........................................................................27
2.2.5 PM Motor Dimensions (FE Series)............................................................................28
2.2.6 PM Motor Dimensions (FF Series)............................................................................29
2.3 Weight...............................................................................................................................30
2.4 Mounting Guidelines ........................................................................................................30
2.4.1 Cable Routing ............................................................................................................30
2.4.2 Panel Mounting..........................................................................................................30
2.4.3 Preventing Excessive Impact.....................................................................................32
2.4.4 Combining with Load Device....................................................................................32
2.4.5 Pulley Combining ......................................................................................................33
3. Electrical Installation .........................................................................................................34
3.1 Installation Safety Requirements......................................................................................35
3.1.1 Precautions.................................................................................................................35
3.1.2 Auto-Configuration for Encoders..............................................................................35
3.2 System Installation Overview...........................................................................................35
3.3 Power Supply....................................................................................................................36
3.3.1 Power Circuit Electronics Specification....................................................................36
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3.4 Multiple Drive Installations..............................................................................................37
3.4.1 Drive Node Address Setting ......................................................................................37
3.4.2 Terminating Resistance Setting .................................................................................38
3.5 Brake Relay (Optional).....................................................................................................38
3.5.1 Dynamic Brake ..........................................................................................................38
3.5.2 Signal Output Function Setting..................................................................................39
3.6 Regeneration Protection....................................................................................................40
3.6.2 External Resistor Setting............................................................................................43
3.6.3 Other Consideration...................................................................................................44
3.7 Drive Status Indicators......................................................................................................45
3.7.1 PD Drive Alarm Code List ........................................................................................46
3.7.2 PD Drive Warning Code List.....................................................................................47
3.8 Connector Descriptions.....................................................................................................47
3.9 Installation Test.................................................................................................................49
3.9.1 Testing the PD Drive .................................................Error! Bookmark not defined.
3.10 Drive Blocks ...................................................................................................................50
3.11 Wiring.............................................................................................................................51
3.11.1 Power .......................................................................................................................51
3.11.2 Feedback Signal.......................................................................................................53
3.11.3 I/O Signal Wiring.....................................................................................................58
3.11.4 Pulse Heat Signal .....................................................................................................62
4. Communications and I/O....................................................................................................64
4.1 Overview...........................................................................................................................65
4.2 RS-422 Communication....................................................................................................65
4.2.1 Terminal Configuration .............................................................................................66
4.2.2 Establishing Communication..................................................................................66
4.2.3 Packet Structure ......................................................................................................67
4.2.4 Protocol Command Code Description....................................................................69
4.3 Communication Address Table.........................................................................................77
4.3.1 System Configuration Parameters..............................................................................77
4.3.2 Control Parameters.....................................................................................................78
4.3.3 I/O Parameters ...........................................................................................................79
4.3.4 Speed Operation Parameters......................................................................................80
4.3.5 Miscellaneous Parameters..........................................................................................81
4.3.6 Advanced Control Parameters ...................................................................................82
4.3.7 Monitoring Parameters...............................................................................................82
4.3.8 Procedures and Alarm History...................................................................................83
4.3.9 3rd Party Motor Parameters........................................................................................83
4.3.10 CiA402 Parameters..................................................................................................84
4.3.11 Index Related Parameters ........................................................................................86
4.3.12 Index00~63 Internal Variable Communication Address.........................................87
4.4 I/O .....................................................................................................................................88
4.4.1 Digital I/O..................................................................................................................88
4.4.2 Analog I/O .................................................................................................................92
4.4.3 Pulse Heat Input.........................................................................................................93
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4.4.4 Encoder Output..........................................................................................................93
4.5 I/O Signal Setting..............................................................................................................95
4.5.1 Allocating Digital Input Signals ................................................................................95
4.5.2 Allocating Digital Output Signals..............................................................................99
4.5.3 Using User I/O.........................................................................................................102
5. Tuning...............................................................................................................................107
5.1 Servo Tuning Overview..................................................................................................108
5.2 Position Variable Overview............................................................................................108
5.2.1 Commanded Position...............................................................................................108
5.2.2 Actual Position.........................................................................................................109
5.3 Servo Response Overview..............................................................................................109
5.3.1 Stability....................................................................................................................109
5.3.2 Position Response Types .........................................................................................109
5.3.3 Performance Measurements.....................................................................................110
5.4 Automatic Gain Tuning (Off-line)..................................................................................110
5.4.1 Related Objects........................................................................................................111
5.5 Automatic Gain Tuning (On-line) ..................................................................................112
5.5.1 Changed parameters after tuning ..........................................................................112
5.5.2 On-line auto tuning object ....................................................................................113
5.5.3 Setting system rigidity when on-line auto tuning .................................................114
5.5.4 On-line auto tuning adaption speed .........................................................................114
5.6 Manual Gain Tuning.......................................................................................................115
5.6.1 Speed Controller Tuning.......................................................................................115
5.6.2 Position Controller Tuning ...................................................................................115
5.7 Vibration Control............................................................................................................116
5.7.1 Related Object.......................................................................................................116
5.7.2 Setting Vibration Suppression Filter(0x2515)......................................................117
5.8 Filters ..............................................................................................................................117
5.8.1 Related Objects........................................................................................................117
5.8.2 Adaptive Filter.........................................................................................................118
5.8.3 Related Objects........................................................................................................118
5.9 Analog Monitor...............................................................................................................119
5.9.1 Related Objects........................................................................................................119
5.9.2 Analog monitor output mode(0x2220) setting......................................................120
5.9.3 Analog monitor channel 1 setting (0x2221) .........................................................120
5.9.4 Setting Example....................................................................................................121
5.10 Gain Conversion ...........................................................................................................122
5.10.1 Gain Group Conversion.........................................................................................122
5.10.2 Related Objects.................................................................................................123
5.10.3 P/PI Control Conversion.......................................................................................123
6. Command Reference........................................................................................................126
6.1 Pulse Input Position Operation .......................................................................................127
6.1.1 Function Setting of Pulse Input Logic.....................................................................128
6.1.2 Related Objects........................................................................................................128
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P Series User Guide ４
6.1.3 Block Diagram.........................................................................................................130
6.2 Function Setting of Pulse Input Filter.............................................................................131
6.3 Function Setting of PCLEAR .........................................................................................131
6.4 Velocity Control..............................................................................................................131
6.4.1 Related objects.........................................................................................................132
6.4.2 Function Set of Velocity Command Switch ............................................................133
6.4.3 Analog Velocity Command .....................................................................................134
6.4.4 Analog Velocity Command Scale............................................................................134
6.4.5 Digital Command Scale...........................................................................................135
6.5 Torque Control................................................................................................................136
6.5.1 Analog Torque Command Scale..............................................................................138
6.5.2 Speed Setting in Torque Control..............................................................................139
6.6 Homing ...........................................................................................................................140
6.6.1 Homing Methods .....................................................................................................140
6.6.2 Related Objects........................................................................................................141
6.7 Electronic Gear Setting...................................................................................................152
6.7.1 Electronic Gear ........................................................................................................152
6.7.2 Example of Electronic Gear Setting ........................................................................154
6.8 Speed Control Setting.....................................................................................................155
6.8.1 Smooth Acceleration/Deceleration..........................................................................155
6.8.2 Servo Lock Function................................................................................................156
6.8.3 Related Signal..........................................................................................................156
6.9 Position Control Setting..................................................................................................157
6.9.1 Position Command Filter.........................................................................................157
6.9.2 Signals Related with Position Control.....................................................................159
6.10 Limit Setting .................................................................................................................160
6.10.1 Forward/Reverse Limit Setting..............................................................................160
6.10.2 Brake Output Signal Function Setting...................................................................161
6.10.3 Torque Limit Setting..............................................................................................163
6.11 Absolute Encoder Data Transmission...........................................................................167
6.12 Touch Probe Function...................................................................................................168
7. Procedure..........................................................................................................................171
7.1 Procedure Function.........................................................................................................172
7.1.1 Manual Jog Operation..............................................................................................172
7.1.2 Program Jog Operation .........................................................................................173
7.1.3 Alarm Record Detection .......................................................................................174
7.1.4 Automatic Gain Tuning ........................................................................................175
7.1.5 Index Pulse Probing..............................................................................................175
7.1.6 Absolute Encoder Reset........................................................................................176
7.1.7 Instantaneous Maximum Torque Reset ................................................................177
7.1.8 Phase Current Offset Tuning ................................................................................177
7.1.9 Software Reset.........................................................................................................178
7.1.10 Commutation..........................................................................................................178
8. Indexer ..............................................................................................................................179
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P Series User Guide ５
8.1 Indexer Overview............................................................................................................180
8.1.1 Control Methods ......................................................................................................180
8.1.2 Coordinate Setting ................................................................................................183
8.1.3 Index Structure.........................................................................................................186
8.2 Indexing Position Operation...........................................................................................187
8.2.1 Concept of Index......................................................................................................187
8.2.2 Absolute and Relative Move....................................................................................192
8.2.3 Registration Absolute and Relative Move............................................................193
8.2.4 Blending Absolute and Relative Move.................................................................194
8.2.5 Rotary Absolute and Relative Move.....................................................................194
8.2.6 Rotary Shortest Move..............................................................................................195
8.2.7 Rotary Positive and Negative Move........................................................................196
8.3 Functions of Index Input Signal......................................................................................197
8.4 Functions of Index Output Signal...................................................................................200
8.5 Analog Speed Override...................................................................................................201
9. Object................................................................................................................................202
9.1 Object Dictionary............................................................................................................203
9.1.1 Data Type..............................................................................................................203
9.1.2 General Objects.....................................................................................................203
9.1.3 Manufacturer Specific Objects .............................................................................207
9.1.4 Index Objects ........................................................................................................262
10. PM Motors ........................................................................................................................281
10.1 Specification .................................................................................................................282
10.2 FAL Series N-T Curves ................................................................................................287
10.3 FBL Series N-T Curves ................................................................................................288
10.4 FCL Series N-T Curves ................................................................................................289
10.5 FE Series N-T Curves...................................................................................................292
10.6 FF Series N-T Curves ...................................................................................................297
11. Troubleshooting................................................................................................................300
11.1 Troubleshooting Guidelines..........................................................................................301
11.2 Servo Alarm and Check List.........................................................................................301
11.3 Servo Warning and Check List.....................................................................................307
Appendix A Firmware Update ..................................................................................................309
Using USB OTG...................................................................................................................310
Using Drive Support Tool.....................................................................................................311
Table of Figures
Figure 1. PD Drive Names.................................................................................................................17
Figure 2. 400W Drive Front Description...........................................................................................18
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P Series User Guide ６
Figure 3. 1000W Drive Front Description......................................................................................... 19
Figure 4. 3500W Drive Front Description......................................................................................... 19
Figure 5. PM Motor Names................................................................................................................ 20
Figure 6. PD Drive Dimensions.........................................................................................................24
Figure 7. PM-FAL series Motor Dimension.......................................................................................25
Figure 8. PM-FBL series Motor Dimension.......................................................................................26
Figure 9. PM-FCL series Motor Dimension ......................................................................................27
Figure 10. PM-FE series Motor Dimension....................................................................................... 28
Figure 11. PM-FF series Motor Dimension.......................................................................................29
Figure 12. PD-04P Mounting Information......................................................................................... 31
Figure 13. PD-10P Mounting Information......................................................................................... 31
Figure 14. PD-35P Mounting Information......................................................................................... 32
Figure 15. System Installation Overview............................................................................................36
Figure 16. Dynamic Brake Sequence .................................................................................................39
Figure 17. PD Drive Block Diagram .................................................................................................50
Figure 18. Drive Wiring Example ......................................................................................................51
Figure 19. I/O Signal Wiring..............................................................................................................59
Figure 20. Example of Digital Input Signal Wiring............................................................................60
Figure 21. Example of Digital Output Signal Wiring.........................................................................61
Figure 22. Example of Analog Input Signal Wiring ...........................................................................61
Figure 23. Example of Analog Output Signal Wiring.........................................................................62
Figure 24. Example of Pulse Heat Signal Wiring...............................................................................62
Figure 25. Example of Open Collector Pulse Input Signal Wiring...................................................63
Figure 26. Example of NPN Open Collector Pulse Command Wiring............................................... 63
Figure 27. RS-422 Multi-Drop Connection Example.........................................................................65
Figure 28. Allocating Digital Input Signals .......................................................................................96
Figure 29. Allocating Digital Output Signals...................................................................................100
Figure 30. Commanded Position...................................................................................................... 108
Figure 31. Position Response Types................................................................................................. 110
Figure 32. Control Loop Block Diagram ......................................................................................... 111
Figure 33. Vibration Control............................................................................................................ 116
Figure 34. Meaning of Notch Filter ................................................................................................. 117
Figure 35. Adaptive Filter Diagram................................................................................................ 118
Figure 36. Analog Monitor............................................................................................................... 119
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P Series User Guide ７
Figure 37. Analog Monitor Output Setting.......................................................................................120
Figure 38. Setting Example..............................................................................................................121
Figure 39. P/PI Control Conversion ................................................................................................124
Figure 40. Example of P/PI Conversion...........................................................................................125
Figure 41. Pulse Input Position Operation......................................................................................127
Figure 42.Inner Block Diagram under the Pulse Input Position ...................................................130
Figure 43. Velocity Controller Inner Block Diagram.......................................................................132
Figure 44. Torque Controller Inner Block Diagram........................................................................138
Figure 45. Homing Function............................................................................................................140
Figure 46. Speed Control..................................................................................................................155
Figure 47. Smooth Acceleration and Deceleration..........................................................................156
Figure 48. Position Command Filter................................................................................................158
Figure 49. Brake Output Function...................................................................................................161
Figure 50. Torque Limit....................................................................................................................166
Figure 51. Absolute Encoder Data Sequence...................................................................................167
Figure 52. Touch Probe Function.....................................................................................................168
Figure 53. Touch Probe Function Timing Diagram.........................................................................170
Figure 54. Program Jog Operation..................................................................................................173
Figure 55. Indexing Position Operation..........................................................................................180
Figure 56. Internal Blocks of Indexing Position Mode ....................................................................183
Figure 57. Analog Speed Override...................................................................................................201
Figure 58. FAL Series N-T Curves....................................................................................................288
Figure 59. FBL Series N-T Curves...................................................................................................289
Figure 60. FCL Series N-T Curves...................................................................................................291
Figure 61. FE Series N-T Curves.....................................................................................................297
Figure 62. FF Series N-T Curves.....................................................................................................299
Table of Tables
Table 1. Available Control Mode........................................................................................................16
Table 2. Output Power Level.............................................................................................................18
Table 3. Drive Installation Environment ............................................................................................23
Table 4. PD Drive Dimensions...........................................................................................................24
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P Series User Guide ８
Table 5. PM-FAL series Motor Dimension......................................................................................... 25
Table 6. PM-FBL series Motor Dimension.........................................................................................26
Table 7. PM-FCL series Motor Dimension .......................................................................................27
Table 8. PM-FE series Motor Dimension...........................................................................................28
Table 9. PM-FF series Motor Dimension...........................................................................................29
Table 10. PD Drive Weight.................................................................................................................30
Table 11. Pulley Combining Information............................................................................................33
Table 12. Power Circuit Electronics Specification.............................................................................36
Table 13. Drive Node Address Setting................................................................................................37
Table 14. Dynamic Brake Related Objects.........................................................................................39
Table 15. Regeneration Related Objects ............................................................................................40
Table 16. Internal Resistor Setting.....................................................................................................41
Table 17. External Regeneration Resistor Setting.............................................................................. 44
Table 18. PD Drive Alarm Code List.................................................................................................46
Table 19. PD Drive Warning Code List..............................................................................................47
Table 20. RS-422 Terminal Specification ...........................................................................................66
Table 21. RS-422 Connector Pin Description ....................................................................................67
Table 22. RS-422 Transmission Packet Structure...............................................................................67
Table 23. RS-422 Reception Packet Structure.................................................................................... 68
Table 24. Protocol Packet Code Description .....................................................................................68
Table 25. Exception Code Description...............................................................................................69
Table 26. Read Holding Register........................................................................................................73
Table 27. Example of Reading Single Parameter............................................................................... 73
Table 28. Example of Reading Multiple Parameters..........................................................................74
Table 29. Read Input Signal ...............................................................................................................74
Table 30. Example of Reading Drive Status.......................................................................................75
Table 31. Write Single Register ..........................................................................................................75
Table 32. Example of Write Single Register .......................................................................................75
Table 33.Write Multi Register.............................................................................................................76
Table 34. Example of Writing Multiple Parameters...........................................................................76
Table 35. System Configuration Parameters......................................................................................78
Table 36. Control Parameters ............................................................................................................79
Table 37. I/O Parameters ...................................................................................................................80
Table 38. Speed Operation Parameters..............................................................................................81
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P Series User Guide ９
Table 39. Miscellaneous Parameters..................................................................................................82
Table 40. Advanced Control Parameters............................................................................................82
Table 41. Monitoring Parameters.......................................................................................................83
Table 42. Procedures and Alarm History ...........................................................................................83
Table 43. 3rd Party Motor Parameters................................................................................................84
Table 44. CiA402 Parameters ...........................................................................................................86
Table 45. Index Related Parameters...................................................................................................87
Table 46. Index Variable Communication Address.............................................................................87
Table 47. Example of Internal Variable of Index00............................................................................88
Table 48. Digital Input Signal Description.........................................................................................91
Table 49. Digital Output Signal Description......................................................................................92
Table 50. Analog Input Signal Description ........................................................................................93
Table 51. Analog Output Signal Description......................................................................................93
Table 52. Pulse Train Input Signal Description.................................................................................93
Table 53. Encoder Output Signal Description.................................................................................... 94
Table 54. Encoder Output Signal of Open Collector Method.............................................................95
Table 55. Encoder Output Related Objects ........................................................................................95
Table 56. Allocating Digital Input Related Objects............................................................................97
Table 57. Example of Signal Input Allocation....................................................................................99
Table 58. Allocating Digital Output Related Objects.......................................................................101
Table 59. Example of Signal Output Allocation ..............................................................................102
Table 60. User Input Related Objects..............................................................................................104
Table 61. User Output Related Objects...........................................................................................105
Table 62. Physical Output Descriptions...........................................................................................106
Table 63. Bit Mask Descriptions.......................................................................................................106
Table 64. Auto Tuning Related Objects ............................................................................................ 111
Table 65. Notch Filter Related Objects ............................................................................................ 118
Table 66. Adaptive Filter Related Objects........................................................................................ 118
Table 67. Analog Monitor Related Objects ......................................................................................120
Table 68. Analog Monitor Channel Setting......................................................................................121
Table 69. Gain Conversion Description...........................................................................................122
Table 70. Gain Conversion Related Objects.....................................................................................123
Table 71. P/PI control Related Objects ............................................................................................ 125
Table 72. Pulse Input Logic Related Objects....................................................................................129
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P Series User Guide １０
Table 73. Pulse Input Filter Related Objects....................................................................................131
Table 74. Function Setting of PCLEAR............................................................................................131
Table 75. Related Objects for Velocity Control ................................................................................133
Table 76. Related Objects for Analog Velocity Command................................................................134
Table 77. Speed setting by Digital Input Signal................................................................................135
Table 78. Homing Methods...............................................................................................................141
Table 79. Homing Related Objects...................................................................................................141
Table 80. Examples of Gear Setting .................................................................................................155
Table 81. Servo Lock Function.........................................................................................................156
Table 82. Servo Lock Function Related Objects...............................................................................157
Table 83. Position Command Filter Related Objects.......................................................................158
Table 84. Position Control Related Objects .....................................................................................159
Table 85. Limit Setting Related Objects ...........................................................................................160
Table 86. Torque Limit Related Objects............................................................................................166
Table 87. Touch Probe Function Related Objects ............................................................................169
Table 88. Procedure Function ..........................................................................................................172
Table 89. Procedure Function Related Objects................................................................................173
Table 90. Program Jog Operation Related Objects..........................................................................174
Table 91. Alarm Detection Related Objects......................................................................................175
Table 92. Index Pulse Probing Related Objects...............................................................................176
Table 93. Absolute Encoder Reset Related Objects..........................................................................177
Table 94. Instantaneous Maximum Torque Reset Related Objects...................................................177
Table 95. Phase Current Offset Related Objects..............................................................................178
Table 96. Commutation Related Objects..........................................................................................178
Table 97. Indexing Position Operation Related Objects..................................................................181
Table 98. Index Structure..................................................................................................................186
Table 99. Analog Speed Override Related Objects...........................................................................201
Table 100. Object Dictionary Data Type..........................................................................................203
Table 101. Hardware Version...........................................................................................................204
Table 102. Software Version.............................................................................................................204
Table 103. Store Parameters ............................................................................................................205
Table 104. Restore Parameters.........................................................................................................206
Table 105. Identity Object ................................................................................................................206
Table 106. Encoder Type Object.......................................................................................................207
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P Series User Guide １１
Table 107. Encoder Pulse per Revolution ........................................................................................208
Table 108. Touch Probe Functions...................................................................................................275
Table 109. Touch Probe Status .........................................................................................................276
Table 110. Digital Input Status......................................................................................................... 278
Table 111. Physical Output Descriptions..........................................................................................279
Table 112. Bit Mask Descriptions.....................................................................................................279
Table 113. Supported Modes.............................................................................................................280
Table 114. PM-FAL Series Features .................................................................................................282
Table 115. PM-FBL Series Features.................................................................................................282
Table 116. PM-FCLxxAMxx Series Features....................................................................................283
Table 117. PM-FCLxxDMxx Series Features...................................................................................283
Table 118. PM-FExxAMxx Series Features......................................................................................284
Table 119. PM-FExxDMxx Series Features......................................................................................285
Table 120. PM-FExxGMxx Series Features .....................................................................................285
Table 121. PM-FExxMMxx Series Features.....................................................................................286
Table 122. PM-FFxxAM/MMxx Series Features..............................................................................286
Table 123. PM-FFxxDM/GMxx Series Features..............................................................................287
Table 124. Servo Alarm Check List ..................................................................................................307
Table 125. Servo Warning Check List...............................................................................................308
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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
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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.
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P Series User Guide １４
Change Summary
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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
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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.
Available Control Mode (0x3000)
Set Value
Setting Details
0
Indexing Position Mode
1
Pulse Input Position Mode
2
Velocity Mode
3
Torque Mode
4
Pulse input position mode or Indexing position mode
5
Pulse input position mode or Velocity mode
6
Pulse input position mode or Torque mode
7
Velocity mode or Torque mode
8
Indexing position mode or Velocity mode
9
Indexing position mode or Torque mode
Table 1. Available Control Mode
Control mode setting value : 4
Pulse input position mode is basic operation in this mode and, when Digital
input MODE signal is on, converted into indexing position mode
Control mode setting value : 5
Pulse input position mode is basic operation in this mode and, when Digital
input MODE signal is on, converted into Velocity mode
Control mode setting value : 6
Pulse input position mode is basic operation in this mode and, when Digital
input MODE signal is on, converted into Torque mode
Control mode setting value : 7
Velocity mode is basic operation in this mode and, when Digital input MODE
signal is on, converted into Torque mode
Control mode setting value : 8
Indexing position mode is basic operation in this mode and, when Digital input
MODE signal is on, converted into Velocity mode
Control mode setting value : 9
Indexing position mode is basic operation in this mode and, when Digital input
MODE signal is on, converted into Torque mode
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Parker Hannifin
P Series User Guide 17
1.1.1 P series Features
PD drives support auto-configuration through BiSS-C protocol when using PM series servo
motors. Drives also support multiple feedback interfaces such as EnDAT2.2, Quadrature,
Sin/Cos and Tamagawa serial encoder.
PM motors are economic, flexible and reliable rotary servo motors. These are available in
40, 62, 80, 130 and 180 frame sizes. Rated output power ranges from 50W to 3500W, with
rated torque from 0.16Nm to 16.7Nm typically at 3000rpm rated speed.
Drive Support Tool software is utilized to configure and optimize the drive and motor.
Software features include step by step configuration, pre-defined profile function, auto
tuning (real-time), various homing modes, jog motion, point to point movement, a four
channel oscilloscope and firmware updates.
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
In Table 1, the maximum current is given at 230 VAC input, which equates to a motor bus
voltage of 340 VDC.
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Parker Hannifin
P Series User Guide 18
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
Drive Input Voltage
120/230 VAC, 1Ø,
230 VAC, 3Ø,
50/60Hz
230 VAC,1/3Ø,
50/60Hz 230 VAC, 1/3Ø, 50/60Hz
Drive Control Voltage
120/230 VAC, 1Ø,
50/60Hz
230 VAC, 1Ø,
50/60Hz
230 VAC, 1Ø,
50/60Hz
Table 2. Output Power Level
1.1.4 Front panel description of representative drives
Figure 2. 400W Drive Front Description
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