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Parker Hannifin

P Series User Guide

Figure 3. 1000W Drive Front Description

Figure 4. 3500W Drive Front Description

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Summary of Contents for P Series

Page 1: ...Parker Hannifin P Series User Guide P Series User Guide 88 032555 01A June 1 2015 www comoso com...

Page 2: ...r 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...

Page 3: ...lation 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...

Page 4: ...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...

Page 5: ...ting 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 Vib...

Page 6: ...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...

Page 7: ...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 Objec...

Page 8: ...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 Wirin...

Page 9: ...on 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 Timi...

Page 10: ...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 Str...

Page 11: ...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 9...

Page 12: ...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 Re...

Page 13: ...4 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...

Page 14: ...ing 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 Groun...

Page 15: ...y 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 th...

Page 16: ...Parker Hannifin P Series User Guide Change Summary www comoso com...

Page 17: ...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 Produc...

Page 18: ...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...

Page 19: ...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 tun...

Page 20: ...t 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 1 230 VAC 3 50 60Hz 230 VAC 1 3 50 60Hz 230 VAC 1 3 50 60Hz D...

Page 21: ...Parker Hannifin P Series User Guide 19 Figure 3 1000W Drive Front Description Figure 4 3500W Drive Front Description www comoso com...

Page 22: ...Parker Hannifin P Series User Guide 20 1 1 5 PM Motor Names The following diagram explains the PM motor part numbers Figure 5 PM Motor Names www comoso com...

Page 23: ...hanical Installation 1 3 Assumptions of Technical Experience The PD Drive is designed for industrial applications To effectively install and troubleshoot the PD Drive you must have a fundamental under...

Page 24: ...2 PM Motor Dimensions FAL Series 2 2 3 PM Motor Dimensions FBL Series 2 2 4 PM Motor Dimensions FCL Series 2 2 5 PM Motor Dimensions FE Series 2 2 6 PM Motor Dimensions FF Series 2 3 Weight 2 4 Mount...

Page 25: ...workable temperature Surrounding Humidity 90 RH or below Caution Freezing or condensation inside the drive due to long term non use may damage the drive When operating after non use please remove wat...

Page 26: ...e models 2 2 1 PD Drive Dimensions PD 04xx to PD 35xx Figure 6 PD Drive Dimensions Unit mm PD 04 PD 10 PD 35 H Height 158 158 158 OH Overall Height 169 169 169 OW Overall Width 38 58 88 W1 Width 1 6 1...

Page 27: ...ries Motor Dimension Unit mm OW OH OL L N W D F M S T PM FALR5AMN 40 60 103 2 78 2 30 32 5 8 5 23 25 2 5 PM FAL01AMN 120 2 95 2 35 PM FAL015AMN 140 2 115 2 35 PM FALR5AM2 139 6 114 6 23 PM FAL01AM2 15...

Page 28: ...Motor Dimension Unit mm OW OH OL L N W D F S T KW KH KD KL P PM FBL01AMN 62 80 107 2 77 2 50 49 5 14 6 30 3 5 3 5 22 5 80 PM FBL02AMN 118 2 88 2 PM FBL04AMN 138 2 108 2 PM FBL01AMK2 147 2 117 2 PM FB...

Page 29: ...AMK 80 98 138 7 98 7 70 63 6 14 10 40 3 5 3 5 25 105 PM FCL05DMK PM FCL06AMK 156 7 116 7 19 6 3 5 6 PM FCL06DMK PM FCL08AMK 174 7 134 7 PM FCL07DMK PM FCL10AMK 192 7 152 7 PM FCL03AMK2 PM FCL04AMK2 17...

Page 30: ...FE11DMK PM FE15AMK 217 3 159 3 PM FE09MMK PM FE13GMK PM FE16DMK PM FE22AMK 237 3 179 3 22 6 3 5 6 PM FE12MMK PM FE17GMK PM FE22DMK PM FE30AMK 255 3 197 3 24 8 4 7 PM FE03MMK2 PM FE05GMK2 PM FE06DMK2 P...

Page 31: ...P PM FF12MMK PM FF20GMK PM FF22DMK PM FF30AMK 180 287 7 257 5 178 5 114 3 141 4 35 17 79 3 10 5 8 60 230 PM FF20MMK PM FF30GMK PM FF35DMK 287 5 208 5 PM FF30MMK 331 5 252 5 PM FF12MMK2 PM FF20GMK2 PM...

Page 32: ...tions and inputs outputs Never route high and low power cables parallel to each other When installing the product vertically please make sure no oil or water flows into the connection unit Please do n...

Page 33: ...Parker Hannifin P Series User Guide 31 Figure 12 PD 04P Mounting Information Figure 13 PD 10P Mounting Information www comoso com...

Page 34: ...the motor during installation or accidental fall may destroy the encoder 2 4 4 Combining with Load Device Combining with Coupling install coupling by matching the motor shaft with the load shaft withi...

Page 35: ...Combining Flange Radial Load Shaft Load Note N Kgf N kgf 40 148 15 39 4 62 206 21 69 7 80 255 26 98 10 130 725 74 362 37 180 1548 158 519 53 220 1850 189 781 90 Table 11 Pulley Combining Information...

Page 36: ...erminating Resistance Setting 3 5 Brake Relay Optional 3 5 1 Dynamic Brake 3 5 2 Signal Output Function Setting 3 6 Regeneration Protection 3 6 2 External Resistor Setting 3 6 3 Other Consideration 3...

Page 37: ...till powered as this could damage the drive 3 1 1 Precautions During installation take the normal precautions against damage caused by electrostatic discharges Wear earth wrist straps Include a mains...

Page 38: ...ower Circuit Electronics Specification Type 400W 1kW 3 5kW MCCB ABS33bM 8A 12A 24A Noise Filter NF RFY 4010M 4020M 4030M DC Reactor HFN 6 6A HFN 10 10A HFN 30 30A MC GMC 9 11A GMC 18 18A GMC 40 35A Po...

Page 39: ...ting values from 0 to 15 F and toggle switches that can be turned On or Off In total you can set node addresses from 0 to 31 2 3 6 8 9 E D B 0 1 F 4 5 7 A C Rotary switch setting 0 1 2 3 4 5 6 7 8 9 A...

Page 40: ...istance turn on the switch as shown in the figure below 3 5 Brake Relay Optional 3 5 1 Dynamic Brake It refers to rapidly stopping the motor by electrically shorting the phase of the servo motor Circu...

Page 41: ...ex Name Variable Format Accessibility PDO Allocation Unit 0x2012 Dynamic Brake Control Mode UINT RW No 0x2013 Emergency Stop Configuration UINT RW No Table 14 Dynamic Brake Related Objects 3 5 2 Signa...

Page 42: ...nd thereby prevent damage to the drive Related Objects Index Sub Index Name Variable Format Accessibility PDO Allocation Unit 0x2009 Regeneration brake Resistor Configuration UINT RW No 0x200A Regener...

Page 43: ...ach drive power are as follows Drive Power Internal Resistance Internal Resistance Power 400W 100 50W 1KW 40 100W 3 5KW 12 6 150W Table 16 Internal Resistor Setting To use the regeneration broke built...

Page 44: ...heat protection panel Default value 0 C Check the internal regeneration brake value and power Check internal regeneration brake value 0x200B Check regeneration brake power 0x200C 1KW or less Attach t...

Page 45: ...1 L2 L3 N PO PI B B BI C1 C2 BI B B B Regeneration brake setting 0x2009 Select the external regeneration brake 0x2009 1 Select this when connecting a regeneration brake with power larger than the inte...

Page 46: ...generation brake setting 0x2009 is 1 The specifications of the optional regeneration brake provided by us for use of external regeneration brake are as follows Drive Power Resistance Brake Power Model...

Page 47: ...it 3 1 of 7 Segment unless the servo alarm is set off displays the following drive statuses Display of servo warning is given priority over other statuses Digit 3 Digit 1 Display Status Description Se...

Page 48: ...status Position control mode Index Pulse Input Homing mode ON Servo ON In case of servo alarm DIGIT 5 1 blinks and displays the following message where DIGIT2 and 1 display the alarm code Display of...

Page 49: ...arning Code List 3 8 Connector Descriptions Power Input Connector Specification BLT 5 08HC 11 180F SN BK BX Weidmuller PD 01 04 300V 10A BLZP 5 08 11 180F SN BK BX Weidmuller PD 08 10 300V 15A Feedbac...

Page 50: ...g Connector Specification DF 11 4DS 2C HIROSE 1 2 3 4 I O connector Specification 10120 3000PE 3M Motor U V W Connector Specification BLT 5 08HC 03 180F SN BK BX Weidmuller PD 04 300V 10A BLZP 5 08 03...

Page 51: ...configuration errors before proceeding with the test Enable the drive If the PD drive is connected to a controller disable the controller s servo loop If the motor is connected to a load disconnect th...

Page 52: ...rive Blocks 3 10 1 Drive Block Figure 17 PD Drive Block Diagram Note 1 When using DC reactor please connect with PO PI Note 2 When using external recovery resistance remove the shorting pins B BI and...

Page 53: ...nals B and BI If the recovery resistance is high due to frequent acceleration deceleration please open the shorting pins B BI and connect external recovery resistance to B B Note 3 Please peel off the...

Page 54: ...Internal 50 W Caution Please see 3 6 2 External Resistor Setting for resistance values when expanding recovery capacity 1 kW 40 Internal 100 W 3 5 kW 13 Internal 150 W Please construct the system so t...

Page 55: ...Parker Hannifin P Series User Guide 53 3 11 2 Feedback Signal APCS ExxxAS Cable Quadrature type APCS ExxxBS Cable Quadrature type www comoso com...

Page 56: ...Parker Hannifin P Series User Guide 54 APCS ExxxCS Cable Serial Single turn type APCS ExxxDS Cable Serial Single turn type www comoso com...

Page 57: ...Parker Hannifin P Series User Guide 55 APCS ExxxES Cable Serial Single turn type APCS ExxxDS1 Cable Serial Multi turn type www comoso com...

Page 58: ...Parker Hannifin P Series User Guide 56 APCS ExxxES1 Cable Serial Multi turn type www comoso com...

Page 59: ...Parker Hannifin P Series User Guide 57 Tamagawa Feedback 17bit incremental EnDAT2 2 Feedback www comoso com...

Page 60: ...Parker Hannifin P Series User Guide 58 3 11 3 I O Signal Wiring www comoso com...

Page 61: ...igure 19 I O Signal Wiring Example of Digital Input Signal Wiring Input contact point can be set at Contact Point A or B depending on the characteristics of each signal Each input contact point can be...

Page 62: ...Digital Output Signal Wiring Input contact point can be set at Contact Point A or B depending on the characteristics of each signal Each input contact point can be allotted to 19 functions Please see...

Page 63: ...Example of Analog Input Signal Wiring Please see 8 5 Analog Speed Override and 6 10 3 Torque Limit Setting for operation of analog input signals The window if analog input signal is 10V 10V Impedance...

Page 64: ...signals The window of analog output signal is 10V 10V The resolution of analog output signals is 12bit The permissible maximum load current is 2 5 mA or below The stabilization time is 15 us Figure 2...

Page 65: ...ector Pulse Input Signal Wiring 12 V or 5 V NPN Open Collector Pulse Command Figure 26 Example of NPN Open Collector Pulse Command Wiring Note 1 When using 5 V power resistance R 100 150 1 2 W When us...

Page 66: ...O Parameters 4 3 4 Speed Operation Parameters 4 3 5 Miscellaneous Parameters 4 3 6 Advanced Control Parameters 4 3 7 Monitoring Parameters 4 3 8 Procedures and Alarm History 4 3 9 3rd Party Motor Para...

Page 67: ...22 Communication PD drive is capable of connecting to the host controller Handy Loader HMI PLC PC etc through RS 422 serial communication allowing the user to use such functions as commissioning gain...

Page 68: ...rity None Synchronism Asynchronous method Transmission Speed 9600 19200 38400 57600 bps Speed can be selected at communication speed setting 0x3002 Transmission Distance Up to 200 m Power Consumption...

Page 69: ...D and RXD using twisted pair NOTE TXD and RXD of the above table is defined based on the servo drive 4 2 3 Packet Structure Maximum length of transmission reception packet of MODBUS RTU is 256 Byte Pl...

Page 70: ...d Input Register 0x06 Write Single Register 0x10 Write Multi Register Table 24 Protocol Packet Code Description Data Transmission In the case of Read Register command Modbus address number of register...

Page 71: ...te 0x01 Starting Address 2Byte 0x0000 to 0xFFFF Quantity of Coils 2Bytes 1 to 2000 0x7D0 Request OK Function code 1Byte 0x01 Byte count 1Byte N Coil Status n Bytes n N or N 1 N Quantity of Outputs 8 R...

Page 72: ...48 0x0030 ORG RO 33 0x0021 ALARM RO 49 0x0031 EOS RO 34 0x0022 READY RO 50 0x0032 IOUT0 RO 35 0x0023 ZSPD RO 51 0x0033 IOUT1 RO 36 0x0024 INPOS1 RO 52 0x0034 IOUT2 RO 37 0x0025 TLMT RO 53 0x0035 IOUT...

Page 73: ...1Byte 0x01 0x04 Command code Read Discrete Inputs can read status of contacts of drive status input and output1 2 The corresponding address of drive status input and output 1 2 are as below Drive sta...

Page 74: ...IOUT4 RO 39 0x0027 INSPD RO 55 0x0037 IOUT5 RO 40 0x0028 WARN RO 56 0x0038 Reserved RO 41 0x0029 TGON RO 57 0x0039 Reserved RO 42 0x002A Reserved RO 58 0x003A Reserved RO 43 0x002B Reserved RO 59 0x0...

Page 75: ...ID Functio n Starting Address Hi Starting Address Lo Quantity of Register Hi Quantity of Register Lo CRC Hi CRC Lo 0x01 0x03 0x26 0x00 0x00 0x01 0x8F 0x42 Request OK Node ID Function Byte Count Regist...

Page 76: ...1 0x83 0x01 0x06 Table 28 Example of Reading Multiple Parameters D Read Input Register 0x04 Read binary values of single register 16bit data and continuous register 16bit data unit Request Function co...

Page 77: ...2Bytes 0x0000 to 0xFFFF Quantity of Registers 2Bytes 0x0000 to 0xFFFF Response not OK Error code 1Byte 0x86 Exception code 1Byte 0x01 0x06 Table 31 Write Single Register Example 1 Changing Inertia Rat...

Page 78: ...Speed Address 0x2302 Request Node ID Function Starting Address Hi Starting Address Lo Quantity of Register Hi Quantity of Register Lo Byte Count 0x01 0x10 0x23 0x00 0x00 0x03 0x06 Registers Value Hi R...

Page 79: ...0x2007 UINT 20 0 5000 ms RW 8201 0x2009 7SEG Display Selection 0x2008 UINT 0 0 100 RW 8202 0x200A Regeneration Brake Resistor Configuration 0x2009 UINT 0 0 1 RW 8203 0x200B Regeneration Brake Resisto...

Page 80: ...ssi bility deci mal hexadeci mal 8448 0x2100 Inertia Ratio 0x2100 UINT 100 0 3000 RW 8449 0x2101 Position Loop Gain 1 0x2101 UINT 50 0 500 1 s RW 8450 0x2102 Speed Loop Gain 1 0x2102 UINT 75 0 2000 Hz...

Page 81: ...t Defa ult Valu e Min Max Unit Accessib ility decim al hexadeci mal 8704 0x2200 Digital Input Signal 1 Selection 0x2200 UINT 0x00 0F 0 0xFFFF RW 8705 0x2201 Digital Input Signal 2 Selection 0x2201 UIN...

Page 82: ...8740 0x2224 Analog Monitor Channel 1 Scale 0x2225 UDIN T 500 0 0x40000 000 RW 8742 0x2226 Analog Monitor Channel 2 Scale 0x2226 UDIN T 500 0 0x40000 000 RW 8744 0x2228 Analog Velocity Command Filter T...

Page 83: ...7 rpm RW 8984 0x2318 Multi Step Operation Speed 7 0x2318 INT 1000 32768 32767 rpm RW 8985 0x2319 Multi Step Operation Speed 8 0x2319 INT 1500 32768 32767 rpm RW 8986 0x231A Velocity Command Switch Sel...

Page 84: ...z RW 9484 0x250C Notch Filter 4 Depth 0x250C UINT 1 1 5 RW 9485 0x250D On line Gain Tuning Mode 0x250D UINT 0 0 1 RW 9486 0x250E System Rigidity for Gain Tuning 0x250E UINT 5 1 20 RW 9487 0x250F On li...

Page 85: ...RO 9755 0x261B Warning Code 0x2614 UINT RO 9756 0x261C Analog Input 1 Value 0x2615 INT mV RO 9757 0x261D Analog Input 2 Value 0x2616 INT mV RO Table 41 Monitoring Parameters 4 3 8 Procedures and Alarm...

Page 86: ...24582 0x6006 Halt Option Code 0x605D INT 0 0 4 RW 24583 0x6007 Fault Reaction Option Coed 0x605E INT 0 0 0 RW 24584 0x6008 Modes of Operation 0x6060 SINT 0 0 10 RW 24585 0x6009 Modes of Operation Disp...

Page 87: ...9 02 DINT 100000 0 0x40000 000 UU s RW 24643 0x6043 Homing Acceleration 0x609A UDINT 200000 0 0x40000 000 UU s2 RW 24645 0x6045 Position Offset 0x60B0 DINT 0 21474 83648 2147483 648 UU RW 24647 0x6047...

Page 88: ...1 RW 12580 0x3124 Index02 0x3102 RW 12598 0x3136 Index03 0x3103 RW 12616 0x3148 Index04 0x3104 RW 12634 0x315A Index05 0x3105 RW 12652 0x316C Index06 0x3106 RW 12670 0x317E Index07 0x3107 RW 12688 0x3...

Page 89: ...Index communication address communication address parameter name Variable Format Min Max Unit Accessibili ty decimal hexadecimal Index Index Number of entries UINT16 RW Index 1 Index 0x01 Index Type U...

Page 90: ...ore than the set motion window 0x2013 The set value determines how it stops 15 DI4 A RST Alarm reset Turns off the Servo alarm 16 DI 5 START Initiate operation Initiates operation to the index positio...

Page 91: ...ndex resumes ABSRQ Absolute position data request Upon request of the absolute data of the absolute encoder the data of the absolute encoder is transmitted to a Host controller in quadrature pulse for...

Page 92: ...Speed Command 7 Parameter 0x2318 O O O Speed Command 8 Parameter 0x2319 MODE Conversion of control mode Switching to control mode during operation PROBE1 Touch probe 1 The probe signal to rapidly sto...

Page 93: ...s installed inside or outside the motor It is displayed when the SVON contact is off 40 DO3 BRAKE 41 DO4 INPOS1 Position reached 1 This signal is displayed when the command position is reached You can...

Page 94: ...Pulse In or Indexer Control Mode 10 10Vis connected between A TLMT AI1 and AGND to limit the motor s output torque The relationship between input voltage and torque limit varies depending on the set 0...

Page 95: ...ion is performed when the Pulse Input Position is selected at 0x3000 Pulse logic can be configured at 0x3003 and the pulse input filter can be configured at 0x3004 When using the line drive method the...

Page 96: ...Line Drive Method Pin No Name Allocation Description Details 1 AO Encoder Signal A Outputs divided encoder signals Phase A B Z using the line drive method The output division can be set at 0x3006 2 AO...

Page 97: ...T RW No Pulse rev 0x3007 Encoder Output Mode UINT RW No Table 55 Encoder Output Related Objects 4 5 I O Signal Setting 4 5 1 Allocating Digital Input Signals You can set the functions of digital input...

Page 98: ...clear AOVR Speed override select PAUSE Index pause PCL I O SPD1 SPD2 SPD3 Multi step speed1 Multi step speed2 Multi step speed3 MODE Conversion of operation mode Figure 28 Allocating Digital Input Sig...

Page 99: ...7 P_CL 0x08 N_CL 0x09 MODE 0x0A RESERVED 0x0B EMG 0x0C A_RST 0x0F SV_ON 0x10 START 0x11 PAUSE 0x12 REGT 0x13 HSTART 0x14 ISEL0 0x15 ISEL1 0x16 ISEL2 0x17 ISEL3 0x18 ISEL4 0x19 ISEL5 0x1A ABSRQ 0x1B JS...

Page 100: ...D PCLR 0x0F SV_ON 0x1E AOVR 0x10 START Example When the set value is 0x0006 0 0 0 6 CONTACT A GAIN2Allocation Contact A Base status is 0 Low Activates when 1 High is input Active High Contact B Base s...

Page 101: ...DI 9 22 DI A 23 DI B 24 DI C 25 0x2208 0x2209 0x220A 0x220B 0x8003 0x8013 0x0014 0x0015 0x03 0x13 0x14 0x15 1 1 0 0 HOME B CP HSTART B CP ISELO A CP ISEL1 A CP DI D 26 DI E 27 DI F 28 DI 10 29 0x220C...

Page 102: ...ss ibility PDO Alloc ation Un it 0x2210 Digital Output Signal 1 Selection UINT RW 0x2211 Digital Output Signal 2 Selection UINT RW 0x2212 Digital Output Signal 3 Selection UINT RW 0x2213 Digital Outpu...

Page 103: ...of I O connector Choose the signals to allocate with bit 7 0 and set the signal level at bit 15 Bit Details 15 Signal output level setting 0 CONTACT A 1 CONTACT B 14 8 Reserved 7 0 Allocated output si...

Page 104: ...ct B DO 4 41 42 0x2213 0 0x05 0x0005 INPOS1 Contact A DO 5 43 44 0x2214 0 0x10 0x0010 ORG Contact A DO 6 45 46 0x2215 0 0x11 0x0011 EOS Contact A DO 7 47 48 0x2216 0 0x0A 0x000A TGON Contact A DO 8 49...

Page 105: ...to use as user input to Not Allocated Set Value 0 See Allocating Input Signal B The values of relevant bits 0x60FD 16 31 are read from digital input to use as user input Related Objects Index Sub Inde...

Page 106: ...Open 1 Close 20 DI 5 I O pin 16 0 Open 1 Close 21 DI 6 I O pin 17 0 Open 1 Close 22 DI 7 I O pin 18 0 Open 1 Close 23 DI 8 I O pin 19 0 Open 1 Close 24 DI 9 I O pin 22 0 Open 1 Close 25 DI A I O pin...

Page 107: ...the port to use as user output bit 16 23 to Enable Forced Output Set Value 1 C Using physical outputs 0x60FE 01 set the value corresponding to user output to 0 or 1 at the relevant port bit 16 23 Rela...

Page 108: ...0x60FE 02 22 is set to 1 23 Forced output of DO 1 I O pin 49 50 0 OFF 1 ON Provided that the relevant bit mask 0x60FE 02 23 is set to 1 24 DO 1output status 0 OFF 1 ON 25 DO 2output status 0 OFF 1 ON...

Page 109: ...ect 5 5 3 Setting system rigidity when on line auto tuning 5 5 4 On line auto tuning adaption speed 5 6 Manual Gain Tuning 5 6 1 Speed Controller Tuning 5 6 2 Position Controller Tuning 5 7 Vibration...

Page 110: ...peed controller or position controller to suit your purposes 5 2 Position Variable Overview In a servo system the drive uses two types of position information commanded position and actual position As...

Page 111: ...re set 5 3 Servo Response Overview 5 3 1 Stability The first objective of tuning is to stabilize the system The formal definition of system stability is when a bounded input is introduced to the syste...

Page 112: ...nd the actual position settles within a certain percentage of the position set point Note the settling time definition here is different from that of a control engineering text book but the goal of th...

Page 113: ...Control 0x2106 1 2 0x2107 P Gain I Gain Position Control 0x2105 1 2 P Gain Motor Load Encoder Space Vector Control Current Control 0x2514 Gain PWM Control Load Inertia Estimation 0x2100 Inertia Resona...

Page 114: ...ue The setting rigidity parameters can determine the overall responsiveness of system In the following cases it may be inaccurate to estimate the inertia when online auto tuning when a change of the l...

Page 115: ...edback Position Feedback 0x2507 0x250A 0x2104 0x2102 0x2103 0x2101 Torque Command 5 5 2 On line auto tuning object Index Sub Index Name Variable Format Accessibility PDO Allowcation Unit 0x250D On lin...

Page 116: ...the system rigidity value from low value to high value and check it vibrates or not 0x250E System Rigidity 1 2 3 4 5 6 7 8 9 10 0x2101 position loop gain 1 2 5 10 15 22 30 40 50 60 73 0x2102 speed lo...

Page 117: ...al tuning B Proportion gain setting Torque noise monitoring before vibration occurs C Integral gain setting Speed overshoot and steady state error monitoring If you want to increase integral gain but...

Page 118: ...e load Measures the vibration frequency of the load 1 0 Hz setting range 100 0 Hz Figure 33 Vibration Control 5 7 1 Related Object Index Sub Index Name Variable Format Accessibility PDO Allocation Uni...

Page 119: ...high gains This drive provides a total of 4 layers of notch filters and the frequency width depth can be set separately for each filter One or two notch filters can be used as adaptive filters with a...

Page 120: ...y and width are automatically set and the set value is used for depth Position Control Velocity Control Inertia Estimation Vibration Frequency Measurement Ref Position Feedback Adaptive Filter Current...

Page 121: ...parameter monitoring Figure 36 Analog Monitor 5 9 1 Related Objects Index Sub Index Name Variable Format Accessibility PDO Allocation Unit 0x2220 Analog Monitor Output Mode UINT RW No 0x2221 Analog M...

Page 122: ...of the output value is displayed Figure 37 Analog Monitor Output Setting 5 9 3 Analog monitor channel 1 setting 0x2221 You can set the monitoring variables to output through the monitor output channel...

Page 123: ...calculated using the following formulas Channel 1 output voltage V monitoring signal value 0x2221 offset 0x2203 scale 0x2205 Channel 2 output voltage V monitoring signal value 0x2222 offset 0x2204 sc...

Page 124: ...2119 descriptions Set Value Details 0 Use only gain group 1 1 Use only gain group 2 2 Gain conversion based on GAIN2 input status 0 use gain group 1 1 use gain group 2 3 Reserved 4 Reserved 5 Reserved...

Page 125: ...211A Gain Conversion Time 1 UINT RW Yes ms 0x211B Gain Conversion Time 2 UINT RW Yes ms 0x211C Gain Conversion Waiting Time 1 UINT RW Yes ms 0x211D Gain Conversion Waiting Time 2 UINT RW Yes ms Table...

Page 126: ...drive and position command filter etc Figure 39 P PI Control Conversion You can set this function by P PI control conversion mode 0x2114 Please see the explanation below Conversion to P control by PC...

Page 127: ...lowing Error UINT RW Yes pulse Table 71 P PI control Related Objects Example of P PI conversion by torque command Using PI control at all times without using P PI conversion during speed control resul...

Page 128: ...Torque Control 6 5 1 Analog Torque Command Scale 6 5 2 Speed Setting in Torque Control 6 6 Homing 6 6 1 Homing Methods 6 6 2 Related Objects 6 7 Electronic Gear Setting 6 7 1 Electronic Gear 6 7 2 Ex...

Page 129: ...io Position Demand Value 0x6062 Enc Velocity Calculation Position Calculation Gear Ratio Inverse Gear Ratio Inverse Position Actual Internal Value 0x6063 Position Demand Internal Value 0x60FC Control...

Page 130: ...tive Logic 6 1 2 Related Objects Index Sub Index Name Variable Format Accessibility PDO Allocation Unit 0x3003 Pulse Input Logic Select UINT RW No Index Sub Index Name Variable Format Accessibility PD...

Page 131: ...T RW No UU 0x3000 Control Mode UINT RW No 0x3001 Coordinate Select UINT RW No 0x3002 Baud Rate Select UINT RW No 0x3003 Pulse Input Logic Select UINT RW No 0x3004 Pulse Input Filter Select UINT RW No...

Page 132: ...2504 1 2 0x2502 0x2505 0x2509 0x250C 0x2503 0x2506 Frequency Width Depth 0x2500 Adaptive Filter function Select Torque Command Filter 0x2104 0x2108 1 2 Torque Limit Select Ext Positive Ext Negative Po...

Page 133: ...LEAR You can set the action mode for when the position pulse clear PCLEAR signal is input When the PCLR signal is input the position error within the drive becomes 0 Set Value Setting Details 0 Edge m...

Page 134: ...ition Actual Internal Value DINT RO Yes pulse 0x6064 Position Actual Value DINT RO Yes UU 0x60B1 Velocity Offset DINT RW Yes UU s 0x60B2 Torque Offset INT RW Yes 0 1 0x606C Velocity Actual Value DINT...

Page 135: ...ilter Time Constant UINT RW No 0x2229 Analog Velocity Command Scale INT RW No 0x222A Analog Velocity Command Clamp Level UINT RW No Table 75 Related Objects for Velocity Control 6 4 2 Function Set of...

Page 136: ...Allocation Unit 0x2227 Analog Velocity Command Filter Time Constant UINT RW No 0x2229 Analog Velocity Command Scale INT RW No 0x222A Analog Velocity Command Clamp Level UINT RW No Table 76 Related Obj...

Page 137: ...D2 SPD3 in I O connector or control digital input signal SPD1 SPD2 SPD3 by communication Input Device Speed SPD1 SPD2 SPD3 X X X Speed command 1 Parameter 0x2312 O X X Speed command 2 Parameter 0x2313...

Page 138: ...1 Analog Torque Command A TLMT Speed Limit Value at Torque control Mode 0x230E Analog Torque Command Filter Time Constant 0x2228 Analog Torque Input command limit Offset 0x221D Analog Torque Input co...

Page 139: ...e UINT RW No 0x3002 Baud Rate Select UINT RW No 0x3006 Encoder Output Pulse UDINT RW No Pulse 0x3007 Encoder Output Mode UINT RW No 0x221C Analog Torque Input command limit Scale UINT RW No 0x221D Ana...

Page 140: ...2228 1 A na log Torq ue comma nd Sca le Velocity Ca lula tion Motor Encoder 0 x60 6C Velocity A ctua l Va lue UU s Current Control 0 x2514 Ga in 0 x60 77 Torq ue A ctua l Va lue 0 1 Positon Ca lula ti...

Page 141: ...etting value set on the percentage of the rated torque ratio by analog input voltage ratio 6 5 2 Speed Setting in Torque Control In torque control depending on the setting of 0x230D speed limit functi...

Page 142: ...tal Input Home switch Positive limit switch Negative limit switch Figure 45 Homing Function Using Home Offset you can set the offset between the home position and the zero position of the machine wher...

Page 143: ...returned to origin by index Z pulse 34 During forward operation the motor is returned to origin by index Z pulse 35 The current position is set as origin 1 During reverse operation the motor is retur...

Page 144: ...the explanations below for further details Speed Negative limit switch ON Index Pulse Zero search speed 0x6099 02 Switch search speed 0x6099 01 A B C Homing Method Time A The initial direction is reve...

Page 145: ...f home switches Please see the explanations below Please see the explanations below for further details Cases where the home witch is off when homing begins and the limit is not met in the process Spe...

Page 146: ...erating at Zero search speed the first index pulse is detected and the motor rotates to the index position Home Cases where the home witch is off when homing begins and the limit is met in the process...

Page 147: ...ch first met while operating in the initial direction becomes the Positive Home Switch Methods 11 12 13 14 Index pulse Home switch Negative limit switch NOT 12 14 11 13 11 14 13 12 11 12 13 14 CW CCW...

Page 148: ...at Zero search speed the first index pulse is detected and the motor rotates to the index position Home Cases where the home switch is on when homing begins Speed Negative Home switch OFF Index Pulse...

Page 149: ...hen the motor operates forward CCW at the switch search speed C When the Negative Home Switch is on the motor decelerates to Zero search speed Then the direction changes to reverse CW D While operatin...

Page 150: ...ion is reverse CW and the position where the Positive Home Switch is on becomes the home position home position Methods 33 34 The initial position is reverse CW for Method 33 and forward CCW for Metho...

Page 151: ...needed by the host controller Homing methods 1 2 3 4 are homing methods supported by this drive other than the standard methods You can use these methods when not using a separate home switch Methods...

Page 152: ...value of homing time 0x240A and changes direction C While operating at Zero search speed the first index pulse is detected and the motor rotates to the index position Home A The initial direction is...

Page 153: ...the motor rotates to the index position Home Methods 3 4 Homing Methods 1 2 uses only Stopper to return to origin The speed profile of each sequence is as follows Please see the explanations below fo...

Page 154: ...motor stands by based on the torque limit for homing using stopper 0x2409 and set value of homing time 0x240A and changes direction 6 7 Electronic Gear Setting 6 7 1 Electronic Gear This function all...

Page 155: ...m pitch ball screw A 5000ppr Encoder B 19bit 524288 ppr Encoder Without electronic gear 5000 12 10 6000 524288 12 10 629145 6 Different commands should be given to each encoder motor when moving the s...

Page 156: ...ce and the drive s input frequency Electronic gears must be used to achieve normal driving 6 7 2 Example of Electronic Gear Setting Ball Screw Load Unit Specifications Pitch 10mm Deceleration ratio 1...

Page 157: ...eration For smooth acceleration deceleration during speed control you can operate the motor by creating acceleration deceleration profile in trapezoidal and s curve shapes In addition you can perform...

Page 158: ...osition is not locked even when the speed command is 0 This is due to the characteristic of speed control By setting the servo lock function 0x2311 you can lock the servo position Set Value Details 0...

Page 159: ...e UINT RW Yes rpm Table 82 Servo Lock Function Related Objects 6 9 Position Control Setting 6 9 1 Position Command Filter You can apply filters to position command to achieve smoother operation For su...

Page 160: ...ommand filter using position command average filter time constant 0x210A Related Objects Index Sub Index Name Variable Format Accessibility PDO Allocation Unit 0x2109 Position Command Filter Time Cons...

Page 161: ...n 1 signal is displayed However the INPOS1 signal is displayed only when the position command is not updated In addition regardless whether the position command is updated the INPOS2 In Position 2 sig...

Page 162: ...limit signal is input you can stop the motor using the emergency stop setting 0x2013 Set Value Descriptions 0 Stop the motor following the method selected at the dynamic brake control mode 0x2012 Stop...

Page 163: ...lapses after servo off command brake signal is output Timing diagram of signal output by brake output speed 0x2407 Figure 49 Brake Output Function Timing diagram of signal output by brake output delay...

Page 164: ...prevent vertical fall caused by the gravity by outputting the brake signal before turning off the PWM output Cases where the PWM is turned off before the brake signal is output When the PWM output is...

Page 165: ...Function Descriptions Internal Torque Limit 1 Set Value 0 Torque is limited using the forward negative torque limit value depending on the direction of rotation The maximum value is limited by the ma...

Page 166: ...ation Forward 0x2111 Reverse 0x2112 Internal External Torque Limit Set Value 3 Torque is limited using the internal and external positive negative torque limit value depending on the direction of rota...

Page 167: ...torque limit value depending on the analog input voltage Regardless of the positivity negativity of analog input voltage when inputting 10 V the torque is limited in the forward reverse direction with...

Page 168: ...0 Torque Limit Function Select UINT RW Yes 0x2111 External Positive Torque Limit Value UINT RW Yes 0 1 0x2112 External Negative Torque Limit Value UINT RW Yes 0 1 0x6072 Maximum Torque UINT RW Yes 0 1...

Page 169: ...ignal to ON The ABSRQ signal can be input through digital input or ABSRQ bit of drive control input 2 0x2120 See 4 3 Communication Address Table B When the drive receives the ABSRQ signal it prepares...

Page 170: ...ermines the existence of waters through a single scan Using the water load position value the robot s unnecessary movements can be minimized Sensor Motor Wafer Stack Figure 52 Touch Probe Function The...

Page 171: ...n Value DINT RO Yes UU Table 87 Touch Probe Function Related Objects Touch Probe Timing Diagram Single Trigger Mode 0x60B8 1 0 0x60B8 9 0 In command to reset Bit 1 2 9 10 of the touch probe status 0x6...

Page 172: ...hed 0x60B9 6 0x60B9 14 Index Pulse Trigger Mode 0x60B8 2 1 0x60B8 10 1 0x60B8 0 0x60B8 8 Index Z Pulse 0x60B9 6 0x60B9 14 0x60B8 2 0x60B8 10 0x60BA 0x60BC Position 1 Latched 0x60B8 1 0x60B8 9 1 2 3 4...

Page 173: ...1 Manual Jog Operation 7 1 2 Program Jog Operation 7 1 3 Alarm Record Detection 7 1 4 Automatic Gain Tuning 7 1 5 Index Pulse Probing 7 1 6 Absolute Encoder Reset 7 1 7 Instantaneous Maximum Torque R...

Page 174: ...coder Reset 0x0006 Reset absolute encoder Max Load Torque Clear 0x0007 Reset maximum operation overload 0x2604 Calibrate Phase Current Offset 0x0008 Calibrate phase current offset Software Reset 0x000...

Page 175: ...Jog operation is a function to check the action of the servo motor by speed control without the host device based on the preset operation speed and operation time Please check the following before ope...

Page 176: ...m Jog Operation Time 1 UINT RW No ms 0x2309 Program Jog Operation Time 2 UINT RW No ms 0x230A Program Jog Operation Time 3 UINT RW No ms 0x230B Program Jog Operation Time 4 UINT RW No ms Table 90 Prog...

Page 177: ...NG RO No 12 Alarm code 12 STRING RO No 13 Alarm code 13 STRING RO No 14 Alarm code 14 STRING RO No 15 Alarm code 15 STRING RO No 16 Alarm code 16 oldest STRING RO No Table 91 Alarm Detection Related O...

Page 178: ...ccurs The multi turn data of absolute encoder needs to be 0 Resetting the absolute encoder resets multi turn data 0x260A and single turn data 0x2607 back to 0 Re supplying power after reset changes th...

Page 179: ...ted output The unit is 0 1 Resupplying power resets the value to 0 Related Objects Index Sub Index Name Variable Format Accessibility PDO Allocation Unit 0x2604 Instantaneous Maximum Operation Overloa...

Page 180: ...ng the power This function can be used in the following cases Parameters which requires power are changed Drive need to be restarted when unable reset alarm is set off 7 1 10 Commutation Commutation f...

Page 181: ...n Operation 8 2 1 Concept of Index 8 2 2 Absolute and Relative Move 8 2 3 Registration Absolute and Relative Move 8 2 4 Blending Absolute and Relative Move 8 2 5 Rotary Absolute and Relative Move 8 2...

Page 182: ...ol M Gear Ratio Position Demand Value 0x6062 Enc Velocity Calculation Position Calculation Gear Ratio Inverse Gear Ratio Inverse Position Actual Internal Value 0x6063 Following Error Window 0x6065 Fol...

Page 183: ...Window Time UINT RW No ms 0x6091 Gear Ratio 0 Number of entries USINT RO No 1 Motor Revolutions UDINT RW No 2 Shaft Revolutions UDINT RW No 0x240C Modulo Factor DINT RW No UU 0x3000 Control Mode UINT...

Page 184: ...0D 0x60BB or 0x60BD Touch Probe 1 2 Negative Edge Position Value UU 0x60BA or 0x60BC Touch Probe 1 2 Positive Edge Position Value UU 0x6063 Position Internal Actual Value pulse Gear Ratio 9 A B Gear R...

Page 185: ...ion Motor Encoder 0x60B2 Torque Offset 0 1 0x606C Velocity Actual Value UU s Current Control 0x2514 Gain 0x6074 Torque Demand Value 0 1 0x6077 Torque Actual Value 0 1 Positon Calulation Negative Max 0...

Page 186: ...tive Move The speed and distance changes to the registration speed and speed by the REGT signal input from outside during operation to the target position the target position relative value changes to...

Page 187: ...is performed in the positive direction when the distance value is in the negative direction when the distance value is Depending on the distance value the motor may rotate more than one cycle the val...

Page 188: ...oordinate 6 Rotary Absolute Move 7 Rotary Relative Move 8 Rotary Shortest Move 9 Rotary Positive Move 10 Rotary Negative Move Distance 2147483648 2147483647 Unit UU Speed 1 2147483647 Unit UU s Accele...

Page 189: ...moving distance and the current position The final distance for relative movement is the movement distance The final moving distance is the size of the colored area under the acceleration deceleratio...

Page 190: ...00 ms 1000 UU s 10000 UU s2 and the deceleration time is 50 ms 1000 UU s 20000 UU s2 Registration Distance Registration Speed If the index type is Registration Absolute or Registration Relative the op...

Page 191: ...et acceleration deceleration Repeat Count The index is repeatedly operated as many times as the set value of the repeat count The set value of dwell time does not apply to repeated index operation Dwe...

Page 192: ...lanation of Next Index for further details Action Under the Indexing Position mode one of the three methods can be used depending on the action of the index A Stop If the action of the index is set to...

Page 193: ...d upon input of the start signal is determined by the ISEL0 5 Index Select signal This is regardless of the value set for the next index C Next Index If the action of the index is set to Next Index se...

Page 194: ...This is the most basic Point to Point PTP operation method where the motor rotates to the absolute or relative position based on the set speed and acceleration Absolute Move The final distance is the...

Page 195: ...gistration Absolute Move Performs absolute move to the set value of the The motor is rotated to the set registration position at the set registration speed The distance after REGT signal input is the...

Page 196: ...ion and the command position If the start position is less than the command position the motor rotates forward In the opposite case the motor rotates counter clock wise The direction is not necessaril...

Page 197: ...set for Modulo Factor 0x240C and depending on the command value the motor may rotate more than 1 cycle The figure below shows rotating 180o from 30o to 210o and rotating 120o from 30o to 90o 0 90 180...

Page 198: ...dulo Factor 0x240C The set distance value is processed as absolute value The figure below shows forward rotation from 300o to 30o and from30o to 180o 0 90 180 270 300 30 Rotary Negative Move This mode...

Page 199: ...ion the current index is paused The remaining distance is rotated when the pause signal rising edge is input again STOP When the stop signal Rising Edge is input the motor stops at the set deceleratio...

Page 200: ...Edge is input the motor returns to the original position start signal input during the return is disregarded After returning to the original position the ORG origin signal is displayed At the start of...

Page 201: ...ends JOG operation and the JDIR signal input from outside changes the rotation direction of the servo motor JOG operation is performed using the speed control mode Related Objects Description JOG oper...

Page 202: ...tions of Index Output Signal EOS End of Index Sequence When the index action is Stop or Wait for Start the EOS End of Sequence signal is displayed IOUT0 5 Index Output 0 5 The number of index currentl...

Page 203: ...ffset Analog Input1 12bit A D A OVR Index 00 63 0x3100 03 Velocity 0x313F 03 Velocity Trajectory Generator A OVR Figure 57 Analog Speed Override A OVR analog speed override The relationship between an...

Page 204: ...Parker Hannifin P Series User Guide 202 9 Object IN THIS CHAPTER 9 1 Object Dictionary 9 1 1 Data Type 9 1 2 General Objects 9 1 3 Manufacturer Specific Objects 9 1 4 Index Objects www comoso com...

Page 205: ...drive is as follows Code Description Scope SINT Signed 8bit 128 127 USINT Unsigned 8bit 0 255 INT Signed 16bit 32768 32767 UINT Unsigned 16bit 0 65535 DINT Signed 32bit 21247483648 21247483647 UDINT U...

Page 206: ...n Change Property Store STRING RO No No Table 101 Hardware Version Shows the device hardware version 0x100A Software Version Variable Format Setting Range Default Value Unit Accessi bility PDO Allocat...

Page 207: ...ication parameter 0x1000 Writing Store at SubIndex 3 will store only parameter 0x6000 Writing Store at SubIndex 4 will store only the drive s specific parameter 0x2000 Writing Store at SubIndex 5 will...

Page 208: ...nly Index parameters 0x3000 The drive needs to be restarted for the reset value to apply 0x1018 Identity Object SubIndex 0 Number of entries Variable Format Setting Range Default Value Unit Accessib i...

Page 209: ...the encoder type Please set the appropriate encoder type by referring to the table below However serial encoders supplied by us 3 in the table below are automatically recognized regardless of the set...

Page 210: ...i on Change Property Stor e UINT 0 to 65535 RO No No Shows the node ID set by the node switch of the drive The node switch value is read only once when the power comes on Subsequent changes apply when...

Page 211: ...r Multi turn data are not used Battery related alarms warnings are not displayed 0x2006 Main Power Fail Check Mode ALL Variable Format Setting Range Default Value Unit Acces sibility PDO Allocati on C...

Page 212: ...es Yes Sets the items to display at the 7SEG window Set Value Display Item Unit Description 0 Operation status 1 Speed feedback rpm mm s 2 Speed command rpm mm s 3 Torque feedback 0 1 4 Torque command...

Page 213: ...o 100 or above please take the heat protection condition into consideration 0x200B Regeneration brake Resistor Value ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati o...

Page 214: ...he overload alarm AL 21 faster If the drive s heat protection condition is poor set the value to 100 or below so as to set off the overload alarm faster 0x2010 Overload Warning Level ALL Variabl e For...

Page 215: ...Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 1 1 RW No Servo Off Yes Sets how the motor stops in case of emergency stop when POT NOT ESTOP is input The decelerati...

Page 216: ...is subtracted from the measured current which is applied as the actual current value Do not attempt manual setting if you do not know the exact set value Tuning current offset using the procedure fun...

Page 217: ...r of magnet corresponding to electrical angle of 360 0x2019 Linear Scale Resolution ALL Variable Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 1 to...

Page 218: ...i on Change Property Stor e UINT 1 to 65535 40 um RW No Power Resupply Yes Set grating period of sinusoidal encoder 0x201E Homing Done Behavior ALL Variable Format Setting Range Default Value Unit Acc...

Page 219: ...W Yes At all times Yes Set the overall responsivity of the position controller Responsivity increases as the set value increases Too high responsivity may cause vibration depending on the load 0x2102...

Page 220: ...p Gain 2 ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 2000 50 Hz RW Yes At all times Yes Sets the speed loop gain used as gain...

Page 221: ...Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 1000 2 0 1ms RW Yes At all times Yes Applies low pass filter to speed feedback calculated from the encoder In case of vibration due...

Page 222: ...Allocati on Change Property Stor e UINT 0 to 4 2 RW Yes At all times Yes Select the function to limit the drive s output torque Set Value Descriptions 0 Torque is limited using the positive negative t...

Page 223: ...nge Property Stor e UINT 0 to 5000 1000 0 1 RW Yes At all times Yes Sets the stop torque for emergency stop by POT NOT ESTOP input 0x2114 P PI Control Conversion Mode ALL Variabl e Format Setting Rang...

Page 224: ...sibility PDO Allocati on Change Property Stor e UINT 0 to 60000 1000 rpm s RW Yes At all times Yes See descriptions on P PI control conversion mode 0X2114 0x2118 P Control Switch Following Error ALL V...

Page 225: ...Reserved 4 Reserved 5 Reserved 6 Gain conversion based on ZSPD output status 0 use gain group 1 1 use gain group 2 7 Gain conversion based on INPOS1output status 0 use gain group 1 1 use gain group 2...

Page 226: ...ty PDO Allocati on Change Property Stor e UINT 0 to 1000 0 UU RW Yes At all times Yes During position control the position controller output becomes 0 if the following error for position control is un...

Page 227: ...s Please see the table below for input descriptions bit Setting Details 0 START 1 PAUSE 2 REGT 3 HSTART 4 ISEL0 5 ISEL1 6 ISEL2 7 ISEL3 8 ISEL4 9 ISEL5 10 ABSRQ 11 JSTART 12 JDIR 13 PCLEAR 14 AOVR 15...

Page 228: ...bl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 0xFFFF 0 RO Yes No Other than outputting the drive s output signal status by allocating it...

Page 229: ...is 0x006 0 0 0 6 CONTACT A GAIN2Allocation Set Value Allocation signal 0x00 Not allocated 0x01 POT 0x02 NOT 0x03 HOME 0x04 STOP 0x05 PCON 0x06 GAIN2 0x07 P_CL 0x08 N_CL 0x09 PROBE1 0x0A PROBE2 0x0B E...

Page 230: ...0 to 0xFFFF 0x000C RW No Power Resupply Yes Set the function of I O connector s digital input signal 4 and input signal level Please see the descriptions 0x2200 for more detailed explanation 0x2204 Di...

Page 231: ...9 and input signal level Please see the descriptions 0x2200 for more detailed explanation 0x2209 Digital Input Signal 10 Selection ALL Variabl e Format Setting Range Default Value Unit Acces sibility...

Page 232: ...14 and input signal level Please see the descriptions 0x2200 for more detailed explanation 0x220E Digital Input Signal 15 Selection ALL Variabl e Format Setting Range Default Value Unit Acces sibilit...

Page 233: ...utput Signal 3 Selection ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 0xFFFF 0x8001x RW No Power Resupply Yes Allocates the fun...

Page 234: ...ing Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 0xFFFF 0x0011 RW No Power Resupply Yes Allocates the function of I O connector s digital output signal 6 an...

Page 235: ...bility PDO Allocati on Change Property Stor e INT 1000 to 1000 0 mV RW No Servo Off Yes In the case of not torque control mode set the analog voltage offset input by analog torque limit In the case of...

Page 236: ...g Monitor Channel 1 Select P Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 65535 0 RW No At all times Yes Sets the monitoring variab...

Page 237: ...hannel 1 setting 0x2221 0x2224 Analog Monitor Channel 2 Offset ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e DINT 0 to 0x40000000 0 RW No...

Page 238: ...iate value depending on system 0x2228 Analog Torque Command Filter Time Constant ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 1...

Page 239: ...P Series User Guide 237 Even if speed command on analog signal contact circuit is 0 some voltage may remain For that case possible to keep zero speed for the voltage command as much as setting speed...

Page 240: ...Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 10000 200 ms RW No At all times Yes Set the time to accelerate from the motor s rated speed to 0 by ms 0x2303 Speed Command...

Page 241: ...on Change Property Stor e INT 6000 to 6000 500 rpm RW No At all times Yes Please see descriptions on speed 1 0x2304 0x2308 Program Jog Operation Time 1 ALL Variabl e Format Setting Range Default Value...

Page 242: ...Set the speed limit function for torque control Set Value Setting Details 0 Limited to the limit speed value 0x230E 1 Limited to the motor s maximum speed 0x230E Speed Limit Value at Torque Control M...

Page 243: ...ng Details 0 Do not use servo lock function 1 Use servo lock function 0x2312 Multi Step Operation Speed 1 ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDOAll ocation Change Pro...

Page 244: ...SPD1 and SPD2 are OFF 0x2317 Multi Step Operation Speed 6 ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDOAll ocation Change Property Stor e INT 32768 to 32767 500 rpm RW No At...

Page 245: ...nalog input command speed Operating speed is operated by multistep command speed in the set value of parameter 0x2315 Ex 2 Set value is 2 and Input Analog command 10 V in the state that SPD1 SPD2 and...

Page 246: ...ime P Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 1000 0 ms RW Yes At all times Yes See description on 0x2401 0x2403 INPOS2 Output...

Page 247: ...es after servo off command the brake signal is output 0x2408 BRAKE Output Delay Time P Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to...

Page 248: ...ion value corresponding to 1 rotation when the user drives the motor 0x240D User Drive Name ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e...

Page 249: ...L Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 50 to 5000 5000 Hz RW No Servo Off Yes Set notch filter 1 frequency 0x2502 Notch Filter 1...

Page 250: ...Unit Acces sibility PDO Allocati on Change Property Stor e UINT 1 to 100 1 Hz RW No Servo Off Yes 0x2509 Notch Filter 3 Depth ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO...

Page 251: ...uning are as follows Inertia ratio 0x2100 position loop gain 1 0x2001 speed loop gain 1 0x2102 speed integral time constant 1 0x2103 torque command filter time constant 1 0x2104 notch filter 3 frequen...

Page 252: ...ge Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 1000 10 0 1ms RW No Servo Off Yes to be provided in the future 0x2514 Current Controller Gain ALL Variabl e Format...

Page 253: ...Monitoring 0x2600 0x2600 Feedback Speed ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e INT rpm RO Yes No Show the motor s current rotation...

Page 254: ...Regeneration Overload ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e INT 0 1 RO No No Show the accumulated regeneration overload of the reg...

Page 255: ...he temperature is measured with the built in temperature sensor in the drive s power board When the measured value is 90 or above the drive overheating alarm 1 AL 25 is set off 0x260D Encoder Temperat...

Page 256: ...signal of the hall sensor attached to the encoder or motor You can use this function to check the hall sensor connection and compare the U A V phase of the motor and the signal s direction Signal valu...

Page 257: ...sibility PDO Allocati on Change Property Stor e INT mV RO Yes No Shows the analog torque input voltage by mV 0x2616 Analog Input Channel 2 Value ALL Variabl e Format Setting Range Default Value Unit A...

Page 258: ...sitive Operation 0x2300 4 Negative Operation 0x2300 5 0speedStop Program jog 0x0002 1 Servo On 2 Servo Off 3 Operation Stop 4 0speedStop maintain Servo On Servo alarm history reset 0x0003 1 Offline du...

Page 259: ...mat Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e STRIN G RO No No SubIndex 3 Alarm Code 3 Variabl e Format Setting Range Default Value Unit Acces sibility PDO...

Page 260: ...11 Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e STRIN G RO No No SubIndex 12 Alarm Code 12 Variabl e Format Setting Range Default Value Unit...

Page 261: ...of such motors 0x2800 Third Party Motor Type ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 1 0 RW No Power Resupply Yes Set mot...

Page 262: ...s 0x2806 Third Party Motor Inertia ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e FP32 0 321 Kg m 2 10 4 RW No Yes Set the motor s inertia...

Page 263: ...on Change Property Stor e UINT 1 to 60000 3000 rpm RW No Yes Set the motor s speed torque curve data The maximum speed that outputs the maximum torque maximum thrust of linear motor is input The unit...

Page 264: ...Format Setting Range Default Value Unit Acces sibility commu nication address Change Property Stor e UINT 0 to 9 0 RW Servo Off Yes Set the drive s position control mode Set Value Setting Details 0 I...

Page 265: ...ntroller and the drive Set Value Setting Details 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 0x3003 Pulse Input Logic Select ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO...

Page 266: ...t the Edge mode 1 Operate at the eve mode torque maintain 2 Operate at the eve mode torque 0 0x3006 Encoder Output Pulse ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Alloca...

Page 267: ...of entries Variable Format Setting Range Default Value Unit Accessib ility PDO Allocation Change Property Store USINT 11 RO No No SubIndex 1 Index Type Variable Format Setting Range Default Value Uni...

Page 268: ...b ility PDO Allocation Change Property Store UINT 0 to 63 1 RW No At all times Yes SubIndex 11 Index Action Variable Format Setting Range Default Value Unit Accessib ility PDO Allocation Change Proper...

Page 269: ...Stor e INT 0 to 1 1 RW No At all times Yes Set the option code for disable operation status Operation Enable state Switched On state Set Value Descriptions 0 Do not use drive function 1 Deceleration a...

Page 270: ...e operation mode for the servo drive After turning the power on the driver the master determines the operation mode The drive provides the following operation modes Set Value Name Description 1 IP Ind...

Page 271: ...ibility PDO Allocati on Change Property Stor e UDINT 0 to 0x3FFFFFFF 600000 UU RW No At all times Yes Set the position error range to check following error Status word 0x6041 13 Set proper value and e...

Page 272: ...or e DINT UU s RO Yes No Show the output speed of the controller or command speed input into the speed controller 0x606C Speed Actual Value ALL Variabl e Format Setting Range Default Value Unit Acces...

Page 273: ...ormat Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT 0 to 5000 3000 0 1 RW Yes At all times No Set the maximum torque by 0 1 of the rated motor torque 0x60...

Page 274: ...able Format Setting Range Default Value Unit Accessib ility PDO Allocation Change Property Store DINT 1073741824 to 1073741823 2000000000 UU RW No At all times Yes SubIndex 2 Max position limit Variab...

Page 275: ...method See 6 4 Homing for further details Set Value Descriptions 0 Do not use homing 1 Homing using index pulse and negative limit contact 2 Homing using index pulse and positive limit contact 7 to 14...

Page 276: ...on Change Property Stor e DINT 2147483648 to 2147483647 0 UU s RW Yes At all times No Correspond to speed feed forward value for position control 0x60B2 Torque Offset ALL Variabl e Format Setting Ran...

Page 277: ...2 14 to 15 Reserved Table 108 Touch Probe Functions 0x60B9 Touch Probe Status ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e UINT RO Yes N...

Page 278: ...tive Edge Position Value ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e DINT UU RO Yes No Show positive edge position value of touch probe...

Page 279: ...60F4 Following Error Actual Value ALL Variabl e Format Setting Range Default Value Unit Acces sibility PDO Allocati on Change Property Stor e DINT UU RO Yes No Show the following error actual value fo...

Page 280: ...110 Digital Input Status 0x60FE Digital Outputs SubIndex 0 Number of entries Variable Format Setting Range Default Value Unit Accessib ility PDO Allocation Change Property Store USINT 2 RO No No SubIn...

Page 281: ...output status 0 OFF 1 ON 25 DO 2output status 0 OFF 1 ON 26 DO 3 output status 0 OFF 1 ON 27 DO 4output status 0 OFF 1 ON 28 DO 5output status 0 OFF 1 ON 29 DO 6output status 0 OFF 1 ON 30 DO 7output...

Page 282: ...Property Store UDINT 0x000003A D RO No No Show the modes supported by the drive bit Supported Modes Description 1 IP Indexing Position Pulse Input Position 1 Supported 0 PP Profile Position 0 Not sup...

Page 283: ...Series User Guide 281 10 PM Motors IN THIS CHAPTER 10 1 Specification 10 2 FAL Series N T Curves 10 3 FBL Series N T Curves 10 4 FCL Series N T Curves 10 5 FE Series N T Curves 10 6 FF Series N T Curv...

Page 284: ...g Standards CE Temperature 0 40 C Humidity 20 80 non condensing Shock Vibration 5G 49m s 2 Table 114 PM FAL Series Features PM FBL Series Features Motor Output Power PM FBL01AMxx PM FBL02AMxx PM FBL04...

Page 285: ...mperature 0 40 C Humidity 20 80 non condensing Shock Vibration 5G 49m s 2 Table 116 PM FCLxxAMxx Series Features PM FCLxxDMxx Series Features Motor Output Power PM FCL03DMxx PM FCL05DMxx PM FCL06DMxx...

Page 286: ...1kg Standards CE Temperature 0 40 C Humidity 20 80 non condensing Shock Vibration 5G 49m s 2 Table 118 PM FExxAMxx Series Features PM FExxDMxx Series Features Motor Output Power PM FE06DMxx PM FE11DMx...

Page 287: ...19bit Weight 5 0kg 6 7kg 8 5kg 10 1kg Standards CE Temperature 0 40 C Humidity 20 80 non condensing Shock Vibration 5G 49m s 2 Table 120 PM FExxGMxx Series Features PM FExxMMxx Series Features Motor O...

Page 288: ...Interface 19bit Weight 12 5kg 12 5kg 17 4kg 25 2kg Standards CE Temperature 0 40 C Humidity 20 80 non condensing Shock Vibration 5G 49m s 2 Table 122 PM FFxxAM MMxx Series Features PM FFxxDM GMxx Ser...

Page 289: ...Parker Hannifin P Series User Guide 287 Shock Vibration 5G 49m s 2 Table 123 PM FFxxDM GMxx Series Features 10 2 FAL Series N T Curves www comoso com...

Page 290: ...Parker Hannifin P Series User Guide 288 Figure 58 FAL Series N T Curves 10 3 FBL Series N T Curves www comoso com...

Page 291: ...Parker Hannifin P Series User Guide 289 Figure 59 FBL Series N T Curves 10 4 FCL Series N T Curves www comoso com...

Page 292: ...Parker Hannifin P Series User Guide 290 www comoso com...

Page 293: ...Parker Hannifin P Series User Guide 291 Figure 60 FCL Series N T Curves www comoso com...

Page 294: ...Parker Hannifin P Series User Guide 292 10 5 FE Series N T Curves www comoso com...

Page 295: ...Parker Hannifin P Series User Guide 293 www comoso com...

Page 296: ...Parker Hannifin P Series User Guide 294 www comoso com...

Page 297: ...Parker Hannifin P Series User Guide 295 www comoso com...

Page 298: ...Parker Hannifin P Series User Guide 296 www comoso com...

Page 299: ...Parker Hannifin P Series User Guide 297 Figure 61 FE Series N T Curves 10 6 FF Series N T Curves www comoso com...

Page 300: ...Parker Hannifin P Series User Guide 298 www comoso com...

Page 301: ...Parker Hannifin P Series User Guide 299 Figure 62 FF Series N T Curves www comoso com...

Page 302: ...Parker Hannifin P Series User Guide 300 11 Troubleshooting IN THIS CHAPTER 11 1 Troubleshooting Guidelines 11 2 Servo Alarm and Check List 11 3 Servo Warning and Check List www comoso com...

Page 303: ...error Motor ID 0x2000 encoder type 0x2001 encoder form 0x2002 setting value should be same with applied to motor label Modify motor label and parameter concordantly Check motor phase resistor Check if...

Page 304: ...otor capacity Please tune gain Motor brake error Checking whether the motor brake is not holding Provide power to motor brake Parameter setting error Motor ID 0x2000 Encoder type 0x2001 Check the labe...

Page 305: ...s persistently occurred It is highly possible to have fault so Kindly recommend you to change the servo drive Drive temperature 2 Surrounding temperature Check whether surrounding temperature is over...

Page 306: ...connection of battery No connected Check status of battery access Connect battery rightly When battery voltage is low Check whether voltage is over 3 3v Replace battery Sinusoidal ENC amplitude Sinus...

Page 307: ...tion deceleration Set longer acceleration deceleration time Drive error If alarm continue after servo on again Replace drive Because drive may have problem Main power fail Main power input voltage err...

Page 308: ...ecause drive may have problem Excessive SPD deviation Motor cable error Disconnect wiring is incorrect and check Short Replace motor cable Encoder cable error Disconnect wiring is incorrect and check...

Page 309: ...rning Name 0 W01 Main power fail 1 W02 Low encoder battery 2 W04 Software position limit 3 W08 Excessive DB current 4 W10 Operation overload 5 W20 Drive motor combination fail 6 W40 Low voltage 7 W80...

Page 310: ...current capacity is bigger than the drive s current capacity UD_VTG Low voltage The main power input voltage is under 190V when the action in case of main power fail is set to warning in the main pow...

Page 311: ...Parker Hannifin P Series User Guide 309 Appendix A Appendix A Firmware Update IN THIS CHAPTER Using USB OTG Using Drive Support Tool www comoso com...

Page 312: ...P_FW__V bin into the USB memory Caution the PD_FW bin file should be put into the root directory of the USB memory And the file name including the extension should match the name indicated here 3 Conn...

Page 313: ...s performance from tens of seconds to a few minutes Click FIRMWARE UPGRADE OS Download at the menu on the top Instructions for Firmware Upgrade 6 Do not turn off the PC or drive during transmission 7...

Page 314: ...nifin P Series User Guide 312 B Click the Load button to load the OS C Click the BIN file of the OS to transmit and then click Open D The Total Length Total Packet of the loaded OS are displayed www c...

Page 315: ...after the memory is cleared You can see the current progress through the progress bar and current packet The transmission time varies depending on the PC s performance from tens of seconds to a few m...

Page 316: ...Parker Hannifin P Series User Guide 314 Turn off and on the drive and then repeat through 2 to 7 www comoso com...

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Summary of Contents for P Series

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Summary of Contents for P Series

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