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APPENDIX B

IPA Hardware Installation Guide

113

Software Configuration: End of Travel (EOT)

Limits & Home

Select the on-board input for positive limit. The Negative Limit will be the next input and the home the following.
Note that for IForce and Ripped positioners, the home sensors are normally closed; change this screen’s default
from Normally Open (NO) to Normally Closed (NC).

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Summary of Contents for IPA Series

Page 1: ...Effective December 2014 Document Number 88 032500 01A IPA Intelligent Parker Amplifier Hardware Installation Guide...

Page 2: ......

Page 3: ...ioned 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...

Page 4: ...ility IEC 61800 3 ed2 0 per 204 108 EC when installed operated and maintained as described in the product User Guide Per IEC 61800 3 ed2 1 section 3 2 5 the IPA is considered a PDS Power Drive System...

Page 5: ...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 The following symbols appear in this guide 1B1BSymbols 2B2BDescri...

Page 6: ...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...

Page 7: ...4 IPA Controllers Overview 15 IPA Product Description 15 IPA Part Numbers 15 Input Power Level 16 Output Power Level 16 Servo Motor Drives 16 Components 16 Options 16 Checking Your Shipment 17 Illustr...

Page 8: ...ts 25 Precautions 25 System Installation Overview 26 Connectors 27 X1 Output Power Connector 28 X2 Input Power Mains Connector 29 Factory Installed Jumpers 30 X6 Motor Feedback Connector 30 Motor Feed...

Page 9: ...l Power Fuse Information 44 Drive Inrush Current 44 Power Supply Connections 44 Earth Ground 45 Single Source Motor Input Power Connections 45 Separate Sources Connections 46 Multiple Drive Controller...

Page 10: ...et Status Indicators 56 Assigning IP Addresses 56 Setting the IP Address IPA 56 Setting the IP Address and Subnet Mask PC 57 Connecting to a PC 60 Verifying the IP Address 60 LED Status Indicators 61...

Page 11: ...rque Enable Technical Specification 80 Ideal Operation 81 Typical Operation 82 Fault Operation 82 CHAPTER 7 Additional Specifications 84 Amplifier 85 Performance 85 Protective Circuits 85 Short Circui...

Page 12: ...ltage Directive LVD 92 A Highly Immune Low Emission Installation Meeting the Requirements of the Electromagnetic Compatibility EMC Directive 93 Control Power 95 Mains Motor Power 95 Panel Installation...

Page 13: ...n Position Error Soft Limits 112 Software Configuration End of Travel EOT Limits Home 113 APPENDIX C IPA with Parker Mechanics 114 IPA with Parker Mechanics 115 Parker Gearhead Gear Ratios 118 Limit H...

Page 14: ...INTRODUCTION 14 IPA Hardware Installation Guide CHAPTER 1 Introduction...

Page 15: ...gle axis digital servo drive with controller capability The drive closes position velocity and torque loops receiving its position setpoints from an internal servo controller ACR View is used to confi...

Page 16: ...Drives In the following table the maximum current is given at 120 240 VAC input which equates to a motor bus voltage of 170 340 VDC Output Power Level Model Continuous Shaft Output Power Watts Contin...

Page 17: ...guide show the IPA which is representative of all IPA Controller models All models have the same external features and housing although the power level and height of the heat sink fins differ Assumpti...

Page 18: ...MECHANICAL INSTALLATION 18 IPA Hardware Installation Guide CHAPTER 2 Mechanical Installation...

Page 19: ...pment directly below a drive Make sure the ambient air temperature entering the drive or rising up to the drive is within acceptable ambient temperature limits Under normal use the temperature of air...

Page 20: ...Model The following values have been measured using the Parker MPM1421CSJXXXN motor Power Dissipation for IPA Cabinet Cooling Calculations Voltage Shaft Power 0W 700W 1300W 120 VAC 14W 82W 130W 240 VA...

Page 21: ...ware Installation Guide 21 Dimensions There is one basic housing size although the length of the heat sink fins varies with each model This section contains the dimensions of all models Drive Dimensio...

Page 22: ...IPA is a vented product To prevent material spilling into the drive mount it under an overhang or in a suitable enclosure IPA products are made available under Restricted Distribution for use in the S...

Page 23: ...e 23 Panel Routing The minimum clearance between IPA is 0 62 inches 15 75mm The minimum clearance above and below a drive is 1 inch 25 4 mm The following figure demonstrates these clearance requiremen...

Page 24: ...ELECTRICAL INSTALLATION 24 IPA Hardware Installation Guide CHAPTER 3 Electrical Installation...

Page 25: ...ks arranged to remove all hazardous motor and drive power when the cabinet door is opened Do not arrange the interlocks to open circuit the motor phase connections while the system is still powered as...

Page 26: ...listed on page 17 and access to a computer Refer to the following figure for a diagram of this system Figure 3 System Installation Overview Warning This product has been developed for industrial envi...

Page 27: ...ns The following figure shows the name and location of the connectors Output Power X1 Motor Output Break Relay Input Power X2 External Regeneration Control Power Motor Power Mains Motor Feedback X6 Dr...

Page 28: ...and for connecting output power to the motor It also serves to connect an external motor brake to the drive s internal solid state relay on the two BK terminals This connector is removable Motor Scre...

Page 29: ...also serves to connect Control power through terminals C1 and C2 and a power dissipation resistor on terminals R and R The connector is removable Input Power Mains Connector Specifications Description...

Page 30: ...rs Figure 7 Factory Installed Jumpers on Input Power Mains Connector X6 Motor Feedback Connector Inputs for the encoder feedback motor thermal switch and hall effects are located on the 15 pin Motor F...

Page 31: ...oders Single ended encoders are supported but not recommended for noisy environments Motor Feedback Connector Pinout Pinout configuration for the Motor Feedback connector is listed in the following ta...

Page 32: ...tor Encoder Inputs Encoder input requirements are listed in the table below Encoder Inputs Description Min Typical Max Units Common Mode Range 7 7 V Current Encoder 250 mA Current Hall 250 mA Differen...

Page 33: ...xx denotes cable length in feet Cable drawings available on website Rotary Motor Connector and Encoder Options Motor Series Encoder Code Connector Options Description Controller Resolution MPE 4E C1 2...

Page 34: ...Ax TxxxxxxxxNxxMAx TxxxxxxxxNxxZAx TxxxxxxxxNxxZAx 404LXRxxx 406LXRxxx 412LXRxxx Linear servo positioner with connector box high flex 006 1889 mm x in motor model number is place holder for any option...

Page 35: ...inputs and four outputs which are described below All drive input and output signals are optically isolated Four general purpose inputs with both Anodes and Cathodes available Three high speed inputs...

Page 36: ...iring of Parker Mechanics limit and home sensors see Appendix C Drive I O Cable For preparing your own cable use differential pair wiring with a minimum of three turns per inch 3 TPI Drive I O Connect...

Page 37: ...I O Connector Pinout Pinout configuration for the Drive I O connector is listed in the following table A box surrounding pins indicates a requirement for twisted pair wiring Drive I O Connector Pinout...

Page 38: ...38 IPA Hardware Installation Guide Internal Connections The following figure shows a schematic diagram of the internal connections for the Drive I O connector Figure 12 Internal Circuit Diagram for t...

Page 39: ...Maximum forward voltage 30 VDC Maximum reverse voltage 30 VDC Forward current 3 12 mA Note All parameters are at the connector pin Here are some additional notes regarding the use of the high speed in...

Page 40: ...the connector pin Outputs General Purpose The general purpose outputs are optically isolated and current limited Both sides of the MOSFET output structure are brought to the pins to allow significant...

Page 41: ...M 7 Common for control keep alive power TRQ_EN1 8 Torque enable input 1 TRQ_EN2 9 Torque enable input 2 TRQ_EN_COM 10 Common for TRQ_EN_24V ANALOG_IN0 11 Differential analog input 0 10V ANALOG_IN1 12...

Page 42: ...he Output Power connector Figure 13 Output Power Connection Current Parker motor cables are marked with white numbers 1 2 or 3 to indicate the phase Connect Motor Phase 1 to U 2 to V and 3 to W and Mo...

Page 43: ...ceable internal fuses For safety the user must provide a fuse in each of the mains input lines Motor Power Fuse Information Select the proper Motor Power input fuse for your specific application using...

Page 44: ...rive see the following table Drive Motor Power Inrush Current Model AC Voltage Drive Inrush at Tamb 25C Drive Inrush at Tamb 50C IPA04 120 VAC 240 VAC 8 50 18 17 00 36 IPA15 120 VAC 240 VAC 8 50 18 17...

Page 45: ...y means of a low impedance path less than or equal to 0 1 ohm with no fuses or other devices Single Source Motor Input Power Connections The following figure shows how to connect the external 120 240...

Page 46: ...ower Supply Connection Separate Sources Warning You must connect the drive s protective conductor terminal marked with the earth symbol to a reliable system Protective Earth Warning The drive s connec...

Page 47: ...Protective Earth ground Safety Earth Connection For multiple drive installations Parker Hannifin recommends a single point or star safety earth configuration The following figure represents a typical...

Page 48: ...y remains open if AC power is not applied to the L1 and L2 terminals Brake Relay Specifications Warning Do not exceed the ratings of the brake relay If required control a suitable external relay with...

Page 49: ...Warning You must connect the drive s protective conductor terminal marked with the earth symbol to a reliable system Protective Earth Warning The drive s connector strip terminals have hazardous volta...

Page 50: ...e rectifiers MPM motors do not have rectifiers Brake Relay does not supply 24VDC Use an external source Recommend that this supply is separate from supply for logic to prevent noise on digital I O 1 C...

Page 51: ...acturer of your motor 1 Connect one red blue brake wire Parker Motor cable or equivalent to one BK terminal located on the Motor connector 2 Connect the second red blue brake wire Parker Motor cable o...

Page 52: ...nal resistor to the R and R terminals located on the Control Power connector The following figure illustrates the external regeneration resistor connections Figure 20 External Regeneration Connection...

Page 53: ...pacity of the drive controller s internal bus capacitors as shown in the following table The available absorption varies based on mains voltage and the drive controller s internal capacitance The vari...

Page 54: ...TROUBLESHOOTING 54 IPA Hardware Installation Guide CHAPTER 4 Communications...

Page 55: ...rossover for connection to a PC An example of this type of cable is L COM TRD855SIG XX The maximum recommended cable length is 30m Ethernet Connector A standard RJ 45 socket connector located on the f...

Page 56: ...ndicators LEDs located on the RJ 45 socket connector indicate Ethernet status The next table describes the LED states and their meanings RJ 45 Ethernet Status LED Indications Signal Steady Flash Descr...

Page 57: ...e S10 switch to 1 and the S1 switch to 4 10 4 14 See Figure 21 This IP address is now set to 192 168 100 14 To set the address to a subnet other than 192 168 100 xx see Changing IP Address on page 61...

Page 58: ...TROUBLESHOOTING 58 IPA Hardware Installation Guide Figure 22 Control Panel Screen 3 Click Network and Sharing Center Figure 23 Network and Internet Screen 4 Click Local Area Connection...

Page 59: ...NG IPA Hardware Installation Guide 59 Figure 24 Network and Sharing Center Screen 5 Click Properties Figure 25 Local Area Connection Status Screen 6 Select Internet Protocol Version 4 TCP IPv4 and cli...

Page 60: ...example in the next step the IP address is set to 192 168 100 25 8 Set the Subnet mask value to 255 255 255 0 Your window should look similar to the following Figure 27 Internet Protocol Properties S...

Page 61: ...ple 14 S1 4 S10 1 192 168 100 S10 S1 Software 99 S1 9 S10 9 User defined via IP command Software 99 S1 9 S10 9 User defined via IP command Set IP 0 0 0 0 or Set IP 255 255 255 255 to have the controll...

Page 62: ...D on the unit Figure 28 Ethernet Network Status LED The following table describes the states and meanings of the Ethernet Network LED For additional information on verifying communication see Chapter...

Page 63: ...TROUBLESHOOTING IPA Hardware Installation Guide 63 CHAPTER 5 Troubleshooting...

Page 64: ...of these areas Power The following figure shows where to check the status LEDs Figure 29 Ethernet Network and Drive Controller Status LEDs If neither the Ethernet Network Status LED nor the Drive Cont...

Page 65: ...et Status LEDs Figure 30 shows their location on the drive s dual stack RJ 45 socket These LEDs indicate any Ethernet connection as described in the next table Note that for a standard 100Mbps connect...

Page 66: ...od Even cables that do not meet the Ethernet cable specification should cause the LEDs to illuminate 4 If the LEDs still do not illuminate look for Ethernet hardware problems Ethernet Network Status L...

Page 67: ...operly configured and is network accessible Re attach the Ethernet cable b If a timeout message is seen the IPA has an invalid IP address Change the address switches to the correct address and cycle p...

Page 68: ...Drive Controller Enabled Off Green Enabled Yellow flashes during Regeneration Green Enabled Regeneration active Yellow Green alternating Green Enabled Autorun mode Drive Controller Disabled Off Red D...

Page 69: ...controller is using its own limits for safety reasons E1 Motor Configuration Error One of the motor parameters is set to zero 0 Look at the additional errors to find which parameters are set at zero 0...

Page 70: ...not enable Velocity or Position Modes To correct the error you must set to a non zero value Refer to your motor specifications for the correct value C10 Motor Damping E26 Drive Faulted The drive cont...

Page 71: ...ower is limited to the rated output to protect the drive controller warning only E43 Excessive Speed at Enable The motor was turning too fast when the drive controller was enabled E47 Low Voltage Enab...

Page 72: ...ix distinct Hall states n times as the rotor turns one revolution where n is equal to the number of pole pairs DPOLE Linear motors n pitch If no see Problem 2 or Problem 3 below 5 Does THALL report th...

Page 73: ...r contact the factory for extension cables or use cable glands on cabinets that clamp around the cable Inductive loads missing flyback diodes motor starters ice cube relays solenoids brakes Unshielded...

Page 74: ...drive in DMODE1 If the motor does not turn in the clockwise direction exchange motor wires U and V Verify that the Bit 8455 command is set to zero b Put positive voltage on motor wire W together with...

Page 75: ...oes not report a value of 3 change Hall wires B and C If THALL reports a value of 3 the wires are connected correctly The following table summarizes phase voltages and their corresponding Hall states...

Page 76: ...TROUBLESHOOTING 76 IPA Hardware Installation Guide Figure 34 Motor Terminal Voltages back EMF and Hall Sensor Signals...

Page 77: ......

Page 78: ...TORQUE ENABLE SAFETY CIRCUITRY 78 IPA Hardware Installation Guide CHAPTER 6 Torque Enable Safety Circuitry...

Page 79: ...sed Torque Enable Functional Description The IPA provides dual Torque Enable channels as a means of preventing the drive from delivering rotational force to its connected electric motor or linear forc...

Page 80: ...r to disable torque and wire the drive to your safety system you must remove the two 3 pronged jumpers between pins 2 3 4 and pins 8 9 10 The IPA pin TRQ_EN_24V is internally limited to 30mA and is in...

Page 81: ...tate will be logged The drive cannot start until the fault is rectified all power is removed the drive allowed to fully power down and power reapplied 0V 24V Torque Enabled 24V 24V Drive is enabled to...

Page 82: ...Both inputs are high Drive is able to run under software control 3 One input is high and the other input is low Drive is tripped and cannot start due to torque disabled state Normal operation allows...

Page 83: ...ime after which time the IPA logic transitions to state 4 without further changes in input state The IPA has detected a fault or single channel operation 4 The fault state one input high the other inp...

Page 84: ...ADDITIONAL SPECIFICATIONS 84 IPA Hardware Installation Guide CHAPTER 7 Additional Specifications...

Page 85: ...r count encoder dependent Maximum Primary Encoder Input Freq pre quadrature 2 4 MHz Maximum Secondary Encoder Input Freq pre quadrature 1 MHz Protective Circuits Short Circuit Protection The IPA drive...

Page 86: ...Threshold Temperature Description Specification All models 80 C 176 F minimum Results of Fault Power to motor is turned off Drive status word is updated via Ethernet to the PC See the table LED Drive...

Page 87: ...dated via Ethernet to the PC See the table LED Under Voltage Fault Custom firmware may be used to lower this such as for the MX80L Contact your Parker ATC for customs LED Under Voltage Fault LED Middl...

Page 88: ...otor output terminals DC motor bus It does not protect against an over voltage on the AC input terminals which can permanently damage the drive controller Current Foldback The IPA s current foldback c...

Page 89: ...opean Compliance and are thus an integral part of a CE system solution EMC cables add RF screening and bonding to reduce emissions increase immunity and provide high integrity safety Earth bonding The...

Page 90: ...REGULATORY COMPLIANCE UL AND CE 90 IPA Hardware Installation Guide CHAPTER 8 Regulatory Compliance UL and CE...

Page 91: ...rity regulations The recommendations provided are based on the requirements of the Low Voltage Directive and specifically on IEC 61010 1 Never compromise safety to achieve EMC compliance In the event...

Page 92: ...ening and can be fitted with interlocks arranged to remove all hazardous motor and drive power when the cabinet door is opened Do not arrange interlocks to open circuit the motor phase connections whi...

Page 93: ...sure and remove all paint and other non conductive surface coatings from the panel mounting surface and RF earth bonding locations If you mount the IPA drive in an equipment cabinet terminate cable br...

Page 94: ...rcuits A circuit switching large currents and sharing a common earth return with another low level signal circuit could conduct electrical noise into the low level circuit thereby possibly interfering...

Page 95: ...at 240 VAC x x FN2070 12 06 12 at 240 VAC x x FN2070 16 062 3 16 at 240 VAC x x Product with applicable mains filter denoted by x 1 Corcom a division of Tyco Electronics 2 Schaffner 3 Available from P...

Page 96: ...upling between filtered and non filtered conductors This means avoiding running wires from the output of a filter clean signals close to those connected to its input noisy signals Where you wish to mi...

Page 97: ...Installation IPA04 HC to IPA15 HC Figure 37 Typical LVD EMC Installation IPA04 HC to IPA15 HC Warning This product has been developed for industrial environments Due to exposed high voltage terminals...

Page 98: ...MPLIANCE UL AND CE 98 IPA Hardware Installation Guide Panel Mounting The mounting clearance requirements are the same for all IPA drive models and are shown here Figure 38 Panel Layout Dimensions for...

Page 99: ...agencies in the following list The list also shows additional steps users must take to ensure compliance Agency Additional Steps User Must Take UL Mains fuses CE LVD Mains fuses earth connection for d...

Page 100: ...REGULATORY COMPLIANCE UL AND CE 100 IPA Hardware Installation Guide...

Page 101: ......

Page 102: ...APPENDIX A 102 IPA Hardware Installation Guide APPENDIX A VM25 Expansion Module...

Page 103: ...rail mounting clips installed Note While the module can support the wire gauge current and voltage listed above the molded cable that comes with this module uses 26 AWG conductors Thus the connections...

Page 104: ...APPENDIX B 104 IPA Hardware Installation Guide APPENDIX B IPA with IForce or Ripped Linear Servos...

Page 105: ...ct feedback and the encoder readhead and scale The Ripped positioners TR07 TR10 TR16 use HED connector modules that include both magnetic limits home and hall sensors feedback and encoder readhead and...

Page 106: ...2 Note Pin Signal Description 5V Black Black 5 5 VDC 5 VDC Hall power Ground White White 6 DGND Hall power return Hall C Yellow Brown 9 Hall 1 Hall 1 input Hall B Blue Blue 13 Hall 2 Hall 2 input Hall...

Page 107: ...l is to be relied on to protect the motor do not power off or reset the IPA during use During an e stop or jam keep the amplifier alive using the separate C1 C2 power and shut off only L1 L2 power Do...

Page 108: ...uide Software Configuration Select Coil Part Number The IForce and Ripped positioner part numbers contain the coil part numbers Below shows an example of the IForce T2 positioner part number and the i...

Page 109: ...art number Ripped Example Software Configuration Set Feedback Resolution The Encoder s Feedback Resolution sets the number of counts over an electrical cycle for the IPA to commutate This is in the ad...

Page 110: ...0 80000 400000 R10 R16 12000 60000 120000 600000 This sets the number of encoder counts post quad over one electrical pitch two magnet widths on the track This number can be calculated by the electric...

Page 111: ...APPENDIX B IPA Hardware Installation Guide 111 Software Configuration Thermal Sensor Type The thermal sensor type s default setting of Switch and Normally Closed Switch are correct...

Page 112: ...to a tighter tolerance after tuning For IForce and Ripped positioners the hardware limit sensors are very close to the end of travel 2 54mm or 0 1in For this reason enable the software limits After ho...

Page 113: ...EOT Limits Home Select the on board input for positive limit The Negative Limit will be the next input and the home the following Note that for IForce and Ripped positioners the home sensors are norma...

Page 114: ...APPENDIX C 114 IPA Hardware Installation Guide APPENDIX C IPA with Parker Mechanics...

Page 115: ...ut levels Here are some general notes The IPA includes 7 general purpose inputs any of which can be configured for limits and home function Limits and home must be selected on 3 consecutive inputs ord...

Page 116: ...measure Simply enter the relevant parameters in ACR View and the correct scaling factor will be calculated Parker mechanics are offered in a wide range of ballscrew leads transport belt sizes and gea...

Page 117: ...APPENDIX C IPA Hardware Installation Guide 117 The above positioners and actuators do not include the optional gearbox reduction...

Page 118: ...d as standard in all models Example OSPE 32B with PV60TA 010 is 60mm rev of the transport belt and the gearhead is a 10 ratio Within the software as the transport belt is in travel per rev and not pul...

Page 119: ...APPENDIX C IPA Hardware Installation Guide 119 For inches set the gearbox ratio to the ratio times 254 and set the denominator to 10...

Page 120: ...0 IPA Hardware Installation Guide Limit Home Sensor Wiring IForce and Ripped Positioners with Connector Box Option 400LXR Series Positioners Note The IForce and Ripped positioned home sensor is Normal...

Page 121: ...APPENDIX C IPA Hardware Installation Guide 121 Applies to the following Parker Stages 402 403 404XE L12H11 404 406XR L12H11 404 406 412LXR H3 L2...

Page 122: ...APPENDIX C 122 IPA Hardware Installation Guide Applies to the following Parker Stages 404XE H3L2 404XE H7L6 401 402 404 406 412XR H3L2 401 402 404 406 412XR H7L6...

Page 123: ...APPENDIX C IPA Hardware Installation Guide 123 Applies to the following Parker Stages 404XE H5L4 404XE H9L8 401 402 404 406 412XR H5L4 401 402 404 406 412XR H9L8...

Page 124: ...APPENDIX C 124 IPA Hardware Installation Guide Applies to the following Parker Stages 402 403XE H3L2 HD085 125 185 LH2...

Page 125: ...125 Applies to the following Parker Stages Actuators ET32 50 80 100 125 Sensors NPN ordered separately ETH OSPE LCR LP28 HD P8S Global Sensors NPN ordered separately See page 127 for P8S Global sensor...

Page 126: ...PA Hardware Installation Guide ET32 50 80 100 125 PNP Sensors ordered separately ETH OSPE LCR HD P8S Global Sensors PNP ordered separately See page 127 for P8S Global sensors and page 128 for P8S Mini...

Page 127: ...X NPN N O 3 0M FLY LEADS P8S GNFAX NPN N O 3 0M FLY LEADS 003 3743 06 P8S GPFLX PNP N O 3 0M FLY LEADS P8S GPFAX PNP N O 3 0M FLY LEADS 003 3743 07 P8S GMFLX NPN N C 3 0M FLY LEADS P8S GMFAX NPN N C 3...

Page 128: ...with M8 003 4475 03 P8S MMFLX NPN N C 3 0M FLY LEADS P8S MMFLY NPN N C 3 0M FLY LEADS 003 4475 04 P8S MMSHX NPN N C 0 3M with M8 P8S MMCHY NPN N C 0 3M with M8 003 4475 05 P8S MPFLX PNP N O 3 0M FLY...

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