Parker P Series User Manual
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Parker P Series User Manual

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

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  • Page 1 Parker Hannifin P Series User Guide 88-032555-01A June 1, 2015 １ P Series User Guide www.comoso.com...
  • Page 2 Failure to do so can result in damage to equipment and/or serious injury to personnel. P Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.

  • Page 3: Table Of Contents

    Table of Tables ..........................8 Important User Information ......................13 Change Summary ........................14 Introduction ......................... 15 1.1 P Series Products Overview ....................16 1.1.1 P series Features ......................17 1.1.2 PD Drive Names ......................17 1.1.3 Input Power ........................ 17 1.1.4 Front panel description of representative drives ............
  • Page 4 4.3.11 Index Related Parameters ..................86 4.3.12 Index00~63 Internal Variable Communication Address ......... 87 4.4 I/O ............................. 88 4.4.1 Digital I/O ........................88 4.4.2 Analog I/O ......................... 92 4.4.3 Pulse Heat Input ......................93 ２ P Series User Guide www.comoso.com...
  • Page 5 Related Objects ....................123 5.10.3 P/PI Control Conversion ..................123 Command Reference ......................126 6.1 Pulse Input Position Operation ..................127 6.1.1 Function Setting of Pulse Input Logic ..............128 6.1.2 Related Objects ......................128 ３ P Series User Guide www.comoso.com...
  • Page 6 7.1.5 Index Pulse Probing ....................175 7.1.6 Absolute Encoder Reset ..................176 7.1.7 Instantaneous Maximum Torque Reset ..............177 7.1.8 Phase Current Offset Tuning ................177 7.1.9 Software Reset ......................178 7.1.10 Commutation ......................178 Indexer ..........................179 ４ P Series User Guide www.comoso.com...
  • Page 7 Appendix A Firmware Update ....................309 Using USB OTG ........................310 Using Drive Support Tool ..................... 311 Table of Figures Figure 1. PD Drive Names ......................... 17 Figure 2. 400W Drive Front Description ................... 18 ５ P Series User Guide www.comoso.com...

  • Page 8: Table Of Figures

    Figure 32. Control Loop Block Diagram ..................111 Figure 33. Vibration Control ......................116 Figure 34. Meaning of Notch Filter ....................117 Figure 35. Adaptive Filter Diagram ....................118 Figure 36. Analog Monitor ....................... 119 ６ P Series User Guide www.comoso.com...
  • Page 9 Figure 62. FF Series N-T Curves ..................... 299 Table of Tables Table 1. Available Control Mode ......................16 Table 2. Output Power Level ......................18 Table 3. Drive Installation Environment .................... 23 Table 4. PD Drive Dimensions ......................24 ７ P Series User Guide www.comoso.com...

  • Page 10: Table Of Tables

    Table 34. Example of Writing Multiple Parameters ................76 Table 35. System Configuration Parameters ..................78 Table 36. Control Parameters ......................79 Table 37. I/O Parameters ........................80 Table 38. Speed Operation Parameters ....................81 ８ P Series User Guide www.comoso.com...
  • Page 11 Table 68. Analog Monitor Channel Setting ..................121 Table 69. Gain Conversion Description ................... 122 Table 70. Gain Conversion Related Objects ..................123 Table 71. P/PI control Related Objects .................... 125 Table 72. Pulse Input Logic Related Objects ..................129 ９ P Series User Guide www.comoso.com...
  • Page 12 Table 101. Hardware Version ......................204 Table 102. Software Version ......................204 Table 103. Store Parameters ......................205 Table 104. Restore Parameters ......................206 Table 105. Identity Object ........................ 206 Table 106. Encoder Type Object ....................... 207 １０ P Series User Guide www.comoso.com...
  • Page 13 Table 121. PM-FExxMMxx Series Features ..................286 Table 122. PM-FFxxAM/MMxx Series Features ................286 Table 123. PM-FFxxDM/GMxx Series Features ................287 Table 124. Servo Alarm Check List ....................307 Table 125. Servo Warning Check List ....................308 １１ P Series User Guide www.comoso.com...
  • Page 14 Parker Hannifin Warning — Risk of damage and/or personal injury The P series described in this guide contain no user-serviceable parts. Attempting to open the case of any unit, or to replace any internal component, may result in damage to the unit and/or personal injury. This may also void the warranty.

  • Page 15: Important User Information

    Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to modify equipment and user guides without prior notice. No part of this user guide may be reproduced in any form without the prior consent of Parker Hannifin.

  • Page 16: Change Summary

    Parker Hannifin Change Summary １４ P Series User Guide www.comoso.com...

  • Page 17: Introduction

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

  • Page 18: P Series Products Overview

    Parker Hannifin 1.1 P Series Products Overview The PD drives are a family of super compact, super economic digital servo drives. Their maximum continuous shaft power ranges from 100 Watts to 3500 Watts (3.5kW). Ready for direct panel mounting, you can select the precise power level needed for your application.

  • Page 19: P Series Features

    Parker Hannifin 1.1.1 P series Features PD drives support auto-configuration through BiSS-C protocol when using PM series servo motors. Drives also support multiple feedback interfaces such as EnDAT2.2, Quadrature, Sin/Cos and Tamagawa serial encoder. PM motors are economic, flexible and reliable rotary servo motors. These are available in 40, 62, 80, 130 and 180 frame sizes.

  • Page 20: Front Panel Description Of Representative Drives

    50/60Hz 50/60Hz 120/230 VAC, 1Ø, 230 VAC, 1Ø, 230 VAC, 1Ø, Drive Control Voltage 50/60Hz 50/60Hz 50/60Hz Table 2. Output Power Level 1.1.4 Front panel description of representative drives Figure 2. 400W Drive Front Description P Series User Guide www.comoso.com...

  • Page 21: Figure 3. 1000W Drive Front Description

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

  • Page 22: Pm Motor Names

    Parker Hannifin 1.1.5 PM Motor Names The following diagram explains the PM motor part numbers : Figure 5. PM Motor Names P Series User Guide www.comoso.com...

  • Page 23: Compatible Parker Product

    Parker Hannifin 1.2 Compatible Parker Product Stepper Controller (S&D mode)....ACR series or other Parker controller Software ..........Drive Support Tool (Easy configuration) For information about cables, motors, etc., see “Chapter 2 Mechanical 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 understanding of the following: •...

  • Page 24: Mechanical Installation

    2.2.5 PM Motor Dimensions (FE Series) 2.2.6 PM Motor Dimensions (FF Series) 2.3 Weight 2.4 Mounting Guidelines 2.4.1 Cable Routing 2.4.2 Panel Mounting 2.4.3 Preventing Excessive Impact 2.4.4 Combining with Load Device 2.4.5 Pulley Combining P Series User Guide www.comoso.com...

  • Page 25: Environment

    Excessive vibration may shorten the life cycle of the Acceleration Vibration bearings 4.9[㎨] or below No exposure to direct sunlight Environmental No corrosive/flammable gas Requirements No oil or dust In case of a closed space, adequate ventilation Table 3. Drive Installation Environment P Series User Guide www.comoso.com...

  • Page 26: Dimensions

    Figure 6. PD Drive Dimensions ( Unit : mm ) PD- 04 PD-10 PD-35 Height Overall Height Overall Width Width 1 Width 2 Width 3 Width 4 Depth 107.7 127.7 112.5 Overall Depth Table 4. PD Drive Dimensions P Series User Guide www.comoso.com...

  • Page 27: Pm Motor Dimensions (Fal Series)

    Figure 7. PM-FAL series Motor Dimension ( Unit : mm ) PM-FALR5AMN 103.2 78.2 PM-FAL01AMN 120.2 95.2 PM-FAL015AMN 140.2 115.2 32.5 PM-FALR5AM2 139.6 114.6 PM-FAL01AM2 156.6 131.6 PM-FAL015AM2 176.6 151.6 Table 5. PM-FAL series Motor Dimension P Series User Guide www.comoso.com...

  • Page 28: Pm Motor Dimensions (Fbl Series)

    OW OH KW KH KD PM-FBL01AMN 107.2 77.2 PM-FBL02AMN 118.2 88.2 PM-FBL04AMN 138.2 108.2 62 80 50 49.5 14 22.5 80 PM-FBL01AMK2 147.2 117.2 PM-FBL02AMK2 158.2 128.2 PM-FBL04AMK2 178.2 148.2 Table 6. PM-FBL series Motor Dimension P Series User Guide www.comoso.com...

  • Page 29: Pm Motor Dimensions (Fcl Series)

    OW OH KW KH KD PM-FCL03DMK 138.7 98.7 PM-FCL04AMK PM-FCL05DMK 156.7 116.7 PM-FCL06AMK PM-FCL06DMK 174.7 134.7 PM-FCL08AMK PM-FCL07DMK 192.7 152.7 PM-FCL10AMK 63.6 PM-FCL03AMK2 PM-FCL04AMK2 PM-FCL05DMK2 PM-FCL06AMK2 PM-FCL06DMK2 PM-FCL08AMK2 PM-FCL07DMK2 PM-FCL10AMK2 Table 7. PM-FCL series Motor Dimension P Series User Guide www.comoso.com...

  • Page 30: Pm Motor Dimensions (Fe Series)

    PM-FE22DMK PM-FE30AMK 231.7 110 102.5 PM-FE03MMK2 PM-FE05GMK2 235.3 177.3 PM-FE06DMK2 PM-FE09AMK2 PM-FE06MMK2 PM-FE09GMK2 255.3 197.3 PM-FE11DMK2 PM-FE15AMK2 PM-FE09MMK2 PM-FE13GMK2 275.3 217.3 PM-FE16DMK2 PM-FE22AMK2 PM-FE12MMK2 PM-FE17GMK2 293.3 235.3 PM-FE22DMK2 PM-FE30AMK2 Table 8. PM-FE series Motor Dimension P Series User Guide www.comoso.com...

  • Page 31: Pm Motor Dimensions (Ff Series)

    287.5 208.5 PM-FF35DMK PM-FF30MMK 331.5 252.5 180 287.7 114.3 141.4 35 17 79 60 230 PM-FF12MMK2 PM-FF20GMK2 308.9 229.9 PM-FF22DMK2 PM-FF30AMK2 PM-FF20MMK2 PM-FF30GMK2 338.9 259.9 PM-FF35DMK2 PM-FF30MMK2 382.9 303.9 Table 9. PM-FF series Motor Dimension P Series User Guide www.comoso.com...

  • Page 32: Weight

    Included heat-sink Table 10. PD Drive Weight 2.4 Mounting Guidelines The P series drive is a vented product. To prevent material spilling into the drive, mount it under an overhang or in a suitable enclosure. 2.4.1 Cable Routing Route high power cables (motor and mains) at right angles to low power cables (communications and inputs/outputs).

  • Page 33: Figure 12. Pd-04P Mounting Information

    Parker Hannifin Figure 12. PD-04P Mounting Information Figure 13. PD-10P Mounting Information P Series User Guide www.comoso.com...

  • Page 34: Preventing Excessive Impact

    Combining with Coupling: install coupling by matching the motor shaft with the load shaft within the permissible window as below. 0.03[mm] or below (peak to peak) Load Shaft Motor Shaft 0.03[mm] or below (peak to peak) P Series User Guide www.comoso.com...

  • Page 35: Pulley Combining

    Parker Hannifin 2.4.5 Pulley Combining Radial Load Shaft Load Flange Note Nr: 30[㎜] or below Radial Load 1548 1850 Axis Load Table 11. Pulley Combining Information P Series User Guide www.comoso.com...

  • Page 36: Electrical Installation

    3.7.2 PD Drive Warning Code List 3.8 Connector Descriptions 3.9 Installation Test 3.9.1 Testing the PD Drive 3.10 Drive Blocks 3.11 Wiring 3.11.1 Power 3.11.2 Feedback Signal 3.11.3 I/O Signal Wiring 3.11.4 Pulse Heat Signal P Series User Guide www.comoso.com...

  • Page 37: Installation Safety Requirements

    Label, clearly, the switch or breaker as the disconnecting device. 3.1.2 Auto-Configuration for Encoders The PD drives recognize “smart encoders” attached to Parker PM. You can apply power to the drive, and the drive reads all necessary motor parameters from the motor. The drive and motor are then ready to use.

  • Page 38: Power Supply

    UA-F1510, SEOIL UA-F2010, SEOIL UA-F4010, SEOIL Pressure Terminal (10mm Strip & Twist) (10mm Strip & Twist) (10mm Strip & Twist) Recovery 50[W] 100[W] 150[W] Resistance 100Ω 40Ω 13Ω (default) Table 12. Power Circuit Electronics Specification P Series User Guide www.comoso.com...

  • Page 39: Multiple Drive Installations

    OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF setting Node address Rotary switch setting Toggle switch OFF OFF OFF OFF OFF ON setting Node address Rotary switch setting Toggle switch setting Node address Table 13. Drive Node Address Setting P Series User Guide www.comoso.com...

  • Page 40: Terminating Resistance Setting

    Circuits related with dynamic brake are installed inside the drive. This drive shorts either 2 phases or 3 phases, depending on the model. You can set various stop modes shown below by configuring the dynamic brake control mode. (0x2012) P Series User Guide www.comoso.com...

  • Page 41: Signal Output Function Setting

    Format Allocation 0x2012 Dynamic Brake Control Mode UINT 0x2013 Emergency Stop Configuration UINT Table 14. Dynamic Brake Related Objects 3.5.2 Signal Output Function Setting Please refer to “ 6.10.2 Brake Output Signal Function Setting ”. P Series User Guide www.comoso.com...

  • Page 42: Regeneration Protection

    0x200B UINT Value Regeneration brake Resistor 0x200C UINT Watt Power Peak Power of Regeneration 0x200D UINT Watt brake Resistor Duration Time @ Peak Power of 0x200E UINT Regeneration brake Resistor Table 15. Regeneration Related Objects P Series User Guide www.comoso.com...

  • Page 43: Table 16. Internal Resistor Setting

    To use the regeneration broke built in the drive, you should set the brake in the following order. A. Regeneration brake wiring Check for B, BI terminal short (default short at the time of release from the factory, 1kW or less) P Series User Guide www.comoso.com...
  • Page 44 Check regeneration brake power (0x200C) 1KW or less : Attach to the backside of the heat protection panel(See the figure below) 3.5KW ~ 15KW : install inside the drive 15KW or above: no internal regeneration brake P Series User Guide www.comoso.com...

  • Page 45: External Resistor Setting

    C. Regeneration brake value setting (0x200B) Set the resistance value of the regeneration brake regeneration brake to [Ω]Unit The value should be set if the regeneration brake setting (0x2009) is 1. Default value: 0 D. Regeneration brake power setting (0x200C) P Series User Guide www.comoso.com...

  • Page 46: Other Consideration

    When derating (set the vale to 100 or below), the regeneration overload alarm (AL-23) sets off faster if the set value is smaller. If you want to set the derating factor to 100% or above, you should fully consider the heat protection condition of the installed drive. P Series User Guide www.comoso.com...

  • Page 47: Drive Status Indicators

    Display of servo warning is given priority over other statuses. Digit 3~Digit 1 Display Status Description Servo off Positive limit sensor input Negative limit sensor input Servo on Servo warning: W10 (code:10) Digit4 displays the current operation status and the servo’s READY status. P Series User Guide www.comoso.com...

  • Page 48: Pd Drive Alarm Code List

    In case of servo alarm, DIGIT 5~1 blinks and displays the following message, where DIGIT2 and 1 display the alarm code. Display of servo warning is given priority over other statuses 3.7.1 PD Drive Alarm Code List Table 18. PD Drive Alarm Code List P Series User Guide www.comoso.com...

  • Page 49: Pd Drive Warning 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)  Feedback Connector Specifications: 10114-3000VE (3M) P Series User Guide www.comoso.com...
  • Page 50 Analog Monitoring Connector Specification : DF-11-4DS-2C (HIROSE)  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 180F SN BK BX (Weidmuller, PD-10, 300V/15A) P Series User Guide www.comoso.com...

  • Page 51: Installation Test

    Unexpected motion may occur especially during the development of controller programs. KEEP WELL CLEAR of any machinery driven by stepper or servo motors. Never touch any part of the equipment while it is in operation. P Series User Guide www.comoso.com...

  • Page 52: Drive Blocks

    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 then connect with the B+, B pins. P Series User Guide www.comoso.com...

  • Page 53: Wiring

    Note 4) When removing power unit wiring from 100[W]~1[kW] drive, remove or connect it after pressing the button at the drive’s terminal block. In case of 2[kW]~3.5[kW] drive, remove or connect it using a flat-head driver. P Series User Guide www.comoso.com...
  • Page 54 Warning Connecting excessive voltage will damage the drive. Caution Start re-wiring after making sure that the charge lamp is off after shutting off the main power, to avoid being electrocuted. P Series User Guide www.comoso.com...

  • Page 55: Feedback Signal

    Parker Hannifin 3.11.2 Feedback Signal  APCS-ExxxAS Cable (Quadrature type)  APCS-ExxxBS Cable (Quadrature type) P Series User Guide www.comoso.com...
  • Page 56 Parker Hannifin  APCS-ExxxCS Cable (Serial Single-turn type)  APCS-ExxxDS Cable (Serial Single-turn type) P Series User Guide www.comoso.com...
  • Page 57 Parker Hannifin  APCS-ExxxES Cable (Serial Single-turn type)  APCS-ExxxDS1 Cable (Serial Multi-turn type) P Series User Guide www.comoso.com...
  • Page 58 Parker Hannifin  APCS-ExxxES1 Cable (Serial Multi-turn type) P Series User Guide www.comoso.com...
  • Page 59 Parker Hannifin  Tamagawa Feedback (17bit incremental)  EnDAT2.2 Feedback P Series User Guide www.comoso.com...

  • Page 60: I/O Signal Wiring

    Parker Hannifin 3.11.3 I/O Signal Wiring P Series User Guide www.comoso.com...

  • Page 61: Figure 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 allotted to 28 functions. P Series User Guide www.comoso.com...

  • Page 62: Figure 20. Example Of Digital Input Signal Wiring

    Please see “ 4.5 I/O Signals Setting “ for signal allotment and contact point change of input contact points. As transistor switches are used, over voltages/current may cause damage. Please exercise caution. The service rating is DC 24V ±10%, 120[㎃]. P Series User Guide www.comoso.com...

  • Page 63: Figure 21. Example Of Digital Output Signal Wiring

    The window if analog input signal is -10V ~ 10V. Impedance of the input signals is approximately 22KΩ. Example of resistance selection 5KΩ 6KΩ 10KΩ 12KΩ Figure 22. Example of Analog Input Signal Wiring P Series User Guide www.comoso.com...

  • Page 64: Pulse Heat Signal

    The permissible maximum load current is 2.5[mA] or below. The stabilization time is 15[us]. Figure 23. Example of Analog Output Signal Wiring 3.11.4 Pulse Heat Signal  Line Drive (5[V]) Pulse Input Figure 24. Example of Pulse Heat Signal Wiring P Series User Guide www.comoso.com...

  • Page 65: Figure 25. Example Of Open Collector 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[Ω], 1/2[W] When using12[V] power: resistance R=560~680[Ω], 1/2[W] When using24[V] power: resistance R=1.5[kΩ], 1/2[W] P Series User Guide www.comoso.com...

  • Page 66: Communications And I/O

    4.3.12 Index00~63 Internal Variable Communication Address 4.4 I/O 4.4.1 Digital I/O 4.4.2 Analog I/O 4.4.3 Pulse Heat Input 4.4.4 Encoder Output 4.5 I/O Signal Setting 4.5.1 Allocating Digital Input Signals 4.5.2 Allocating Digital Output Signals 4.5.3 Using User I/O P Series User Guide www.comoso.com...

  • Page 67: Overview

    In addition, up to 31 multiple PD drives can be connected using multi-drop method, to allow for operation and control through communication. Servo Servo Servo Drive Drive Drive USB Port USB to RS-422 Communication conve rter Figure 27. RS-422 Multi-Drop Connection Example P Series User Guide www.comoso.com...

  • Page 68: Terminal Configuration

    The terminating resistance used for RS-422 communication is configured within this drive. The terminating resistance inside the drive is 120Ω. To use the terminating resistance, turn on the switch as shown in the figure below. P Series User Guide www.comoso.com...

  • Page 69: Packet Structure

    3.5 char 4.5 char  Transmission Packet Structure Additional Functio Data Error Check Address n Code Byte description Node ID Function Data CRC(MSB) CRC(LSB) Table 22. RS-422 Transmission Packet Structure  Reception Packet Structure P Series User Guide www.comoso.com...

  • Page 70: Table 23. Rs-422 Reception Packet Structure

    Abnormal response consists of Node ID, Error Code and Exception Code. Packet structure of abnormal response is the same regardless of the function code. P Series User Guide www.comoso.com...

  • Page 71: Protocol Command Code Description

    Drive status input 1, 2 communication address Communication Communication address address Output Acces Output Access contacts sibility contacts ibility deci Hexa decimal Hexa 0x0000 0x0016 START 0x0001 0x0017 PAUSE 0x0002 0x0018 HOME REGT 0x0003 0x0019 STOP HSTART 0x0004 0x0020 PCON ISEL0 P Series User Guide www.comoso.com...
  • Page 72 For example 1) Reading status of BRAKE output contacts  Request Starting Starting Quantity of Quantity of Function Address Address CRC Hi CRC Lo e ID Register Hi. Register Lo 0x01 0x01 0x00 0x20 0x00 0x01 0xFC 0x00 P Series User Guide www.comoso.com...
  • Page 73 0x0003 0x0013 STOP HSTART 0x0004 0x0014 PCON ISEL0 0x0005 0x0015 GAIN2 ISEL1 0x0006 0x0016 P_CL ISEL2 0x0007 0x0017 N_CL ISEL3 0x0008 0x0018 MODE ISEL4 0x0009 0x0019 Reserved ISEL5 0x000A 0x001A ABSRQ 0x000B 0x001B A_RST JSTART P Series User Guide www.comoso.com...
  • Page 74 ID Count Value 0x01 0x02 0x01 0x00 0xA1 0x88 - The status of POT is Low.  Response not OK Node ID Error Code Exception Code CRC Hi CRC Lo 0x01 0x82 0x01 ~ 0x04 P Series User Guide www.comoso.com...

  • Page 75: Table 26. Read Holding Register

    Type(Address: 0x2001), number of encoder pulses per rotation (Address: 0x2002~0x2003))  Request Starting Starting Node Quantity of Quantity of Function Address Address CRC Hi CRC Lo Register Hi. Register Lo 0x01 0x03 0x20 0x00 0x00 0x04 0x4F 0XC9 P Series User Guide www.comoso.com...

  • Page 76: Table 28. Example Of Reading Multiple Parameters

    Starting Node Quantity of Quantity of Function Address Address CRC Hi CRC Lo Register Hi. Register Lo 0x01 0x04 0x21 0x21 0x00 0x01 0x6B 0xFC  Request OK Function CRC Hi Node Byte Register Register P Series User Guide www.comoso.com...

  • Page 77: Table 30. Example Of Reading Drive Status

    - Changes the inertia ratio (Address: 0x2100) value to 200(or 0x00C8).  Response not OK Node ID Error Code Exception Code CRC Hi CRC Lo 0x01 0x86 0x01 ~ 0x06 Table 32. Example of Write Single Register F. Write Multi Register (0x10) P Series User Guide www.comoso.com...

  • Page 78: Table 33.Write Multi Register

    Register Lo 0x01 0x10 0x23 0x00 0x00 0x03 0X8B 0X8C  Response not OK Node ID Error Code Exception Code CRC Hi CRC Lo 0x01 0x90 0x01 ~ 0x06 Table 34. Example of Writing Multiple Parameters P Series User Guide www.comoso.com...

  • Page 79: Communication Address Table

    0x2010 0x200F UINT Check Base Overload 8209 0x2011 Warning 0x2010 UINT Level PWM Off 8210 0x2012 0x2011 UINT 1000 Delay Time Dynamic 8211 0x2013 Brake 0x2012 UINT Control Mode Emergency 8212 0x2014 0x2013 UINT Stop P Series User Guide www.comoso.com...

  • Page 80: Control Parameters

    Speed Feed-forward Filter 8461 0x210D 0x210D UINT 1000 0.1ms Time Constant 8462 0x210E Torque Feed-forward Gain 0x210E UINT Torque Feed-forward Filter 8463 0x210F 0x210F UINT 1000 0.1ms Time Constant Torque Limit Function 8464 0x2110 0x2110 UINT Select P Series User Guide www.comoso.com...

  • Page 81: I/O Parameters

    0xFFFF Selection Digital Output Signal 1 0x80 8720 0x2210 0x2210 UINT 0xFFFF Selection Digital Output Signal 2 0x00 8721 0x2211 0x2211 UINT 0xFFFF Selection Digital Output Signal 3 0x80 8722 0x2212 0x2212 UINT 0xFFFF Selection P Series User Guide www.comoso.com...

  • Page 82: Speed Operation Parameters

    6000 Operation Speed 2 Program Jog 8966 0x2306 0x2306 -6000 6000 Operation Speed 3 Program Jog 8967 0x2307 0x2307 -500 -6000 6000 Operation Speed 4 Program Jog 8968 0x2308 0x2308 UINT 10000 Operation Time 1 P Series User Guide www.comoso.com...

  • Page 83: Miscellaneous Parameters

    Homing Using Stopper Duration Time at 9226 0x240A 0x240A UINT 1000 Homing Using Stopper 9227 0x240B Modulo Mode 0x240B UINT 0x3FF 9228 0x240C Modulo Factor 0x240C DINT 3600 FFFFF 9230 0x240E User Drive Name 0x240D STRING Drive P Series User Guide www.comoso.com...

  • Page 84: Advanced Control Parameters

    9497 0x2519 Suppression Filter 2 0x2519 UINT Damping Table 40. Advanced Control Parameters 4.3.7 Monitoring Parameters communication address parameter Variable Default Accessibilit parameter name Unit Hexa Format Value decimal decimal 9728 0x2600 Feedback Speed 0x2600 P Series User Guide www.comoso.com...

  • Page 85: Procedures And Alarm History

    FP32 8.67 Arms Maximum Current [Third Party Motor] 10246 0x2806 0x2804 UINT 3000 60000 Rated Speed [Third Party Motor] 10247 0x2807 0x2805 UINT 5000 60000 Maximum Speed 10248 0x2808 [Third Party Motor] 0x2806 FP32 0.321 P Series User Guide www.comoso.com...

  • Page 86: Cia402 Parameters

    -5000 5000 0.1% 24605 0x601D Maximum Torque 0x6072 UINT 3000 5000 0.1% Torque Demand 24606 0x601E 0x6074 0.1% Value 24607 0x601F Torque Actual Value 0x6077 0.1% 2147483 24608 0x6020 Target Position 0x607A DINT 21474 83648 P Series User Guide www.comoso.com...
  • Page 87 24672 0x6060 Digital Inputs 0x60FD UDINT Digital Outputs 0xFFFF 24676 0x6064 0x60FE DINT (Physical) FFFF Digital Outputs (Bit 0xFFFF 24678 0x6066 0x60FE DINT mask) FFFF 2147483 24680 0x6068 Target Speed 0x60FF DINT 21474 UU/s 83648 P Series User Guide www.comoso.com...

  • Page 88: Index Related Parameters

    0x32F8 Index28 0x311C 13066 0x330A Index29 0x311D 13084 0x331C Index30 0x311E 13102 0x332E Index31 0x311F 13120 0x3340 Index32 0x3120 13138 0x3352 Index33 0x3121 13156 0x3364 Index34 0x3122 13174 0x3376 Index35 0x3123 13192 0x3388 Index36 0x3124 P Series User Guide www.comoso.com...

  • Page 89: Index00~63 Internal Variable Communication Address

    0x3104 Speed INT32 2147483647 UU/s 12550 0x3106 Acceleration INT32 2147483647 UU/s2 12552 0x3108 Deceleration INT32 2147483647 UU/s2 12554 0x310A RegDistance INT32 -2147483648 2147483647 12556 0x310C RegSpeed INT32 2147483647 UU/s2 12558 0x310E Repeat Count UINT16 65535 P Series User Guide www.comoso.com...

  • Page 90: I/O

    Select Index 0 DI 12 ISEL1 Select Index 1 Select an index for operation among DI 13 ISEL2 Select Index 2 index 0 to 63. DI 14 ISEL3 Select Index 3 DI 15 ISEL4 Select Index 4 P Series User Guide www.comoso.com...
  • Page 91 The override value is 0% under - 10Vinput, 100% under 0V input, and 200% under ＋10V input. Digital Speed ** SPD1 Selecting command speed for Depending on Speed Digital Input contact, Speed Digital Speed ** SPD2 command is changed as below P Series User Guide www.comoso.com...
  • Page 92 Touch probe 2 position value (2) Vibration control filter signal 1 according Vibration to setting function (0x2515) for Vibration control filter. ** LVSF1 Suppression This is the same as predetermined value Filter 1 of SPD1 when allocating. P Series User Guide www.comoso.com...

  • Page 93: Table 48. Digital Input Signal Description

    This signal is displayed when the difference between the command ** INSPD Speed reached speed and the current speed is under the set [0x2406]value. This signal is displayed when a ** WARN Servo warning warning sets off. P Series User Guide www.comoso.com...

  • Page 94: Analog I/O

    Analog Torque Control Mode : 10~＋10Vis connected between A- OVR(AI2)and AGND to operate Analog speed mode. The relationship between input voltage and speed command varies depending on the set [0x2229] value. AGND AGND(0V) Analog ground P Series User Guide www.comoso.com...

  • Page 95: Pulse Heat Input

    DO08 (PHASE Z) ports allocated by default to digital output signal, masking the corresponding output function. You can set the number of encoder pulses output per 1 rotation with the encoder output pulse [0x3006] value. P Series User Guide www.comoso.com...

  • Page 96: Table 53. Encoder Output Signal Description

    (Phase A, B, Z) using the open collector method. DO07+ Encoder The output division can be set at Signal B DO07- [0x3006]. Use of open collector encoder output DO08+ Encoder can be set at[0x3007]. Signal Z DO08- P Series User Guide www.comoso.com...

  • Page 97: I/O Signal Setting

    You can set the functions of digital input signal of I/O connector and input signal level. Among the 28 input functions listed below, you can allocate the functions that you want to use to digital input signals 1 through 16 at your discretion. P Series User Guide www.comoso.com...

  • Page 98: Figure 28. Allocating Digital Input Signals

    0x220B Digital Input Signal 12 Selection UINT 0x220C Digital Input Signal 13 Selection UINT 0x220D Digital Input Signal 14 Selection UINT 0x220E Digital Input Signal 15 Selection UINT 0x220F Digital Input Signal 16 Selection UINT P Series User Guide www.comoso.com...

  • Page 99: Table 56. Allocating Digital Input Related Objects

    PAUSE 0x12 REGT 0x13 HSTART 0x14 ISEL0 0x15 ISEL1 0x16 ISEL2 0x17 ISEL3 0x18 ISEL4 0x19 ISEL5 0x1A ABSRQ 0x1B JSTART 0x1C JDIR 0x1D PCLR 0x1E AOVR 0X20 SPD1 0X21 SPD2 0X22 SPD3 0X23 MODE P Series User Guide www.comoso.com...
  • Page 100 DI 10 DI 11 DI 12 DI 13 DI 14 DI 15 DI 16 HOME HSTART ISEL0 ISEL1 ISEL2 ISEL3 ISEL4 ISEL5 (CONTA (CONTAC (CONTAC CT B) T B) T A) (CONTAC (CONTAC (CONTAC (CONTAC (CONTAC P Series User Guide www.comoso.com...

  • Page 101: Allocating Digital Output Signals

    You can set the functions of digital output signal of I/O connector and output signal level. Among the 19 output functions listed below, you can allocate the functions that you want to use to digital input signals 1 through 8 at your discretion. P Series User Guide www.comoso.com...

  • Page 102: Figure 29. Allocating Digital Output Signals

    Digital Output Signal 2 0x2211 UINT Selection Digital Output Signal 3 0x2212 UINT Selection Digital Output Signal 4 0x2213 UINT Selection Digital Output Signal 4 0x2214 UINT Selection Digital Output Signal 4 0x2215 UINT Selection P Series User Guide www.comoso.com...

  • Page 103: Table 58. Allocating Digital Output Related Objects

    0x01 BRAKE 0x02 ALARM 0x03 0x04 ZSPD 0x05 INPOS1 0x06 TLMT 0x07 VLMT 0x08 INSPD 0x09 WARN 0x0A TGON 0x0B INPOS2 0x10 0x11 0x12 IOUT0 0x13 IOUT1 0x14 IOUT2 0x15 IOUT3 0x16 IOUT4 0x17 IOUT5 P Series User Guide www.comoso.com...

  • Page 104: Using User I/O

    If the number of User I/O required is small, you can use the drive’s I/O connector instead of using additional I/O modules, resulting in cost reduction. This drive provides up to 16 input signals and 8 output signals as user I/O. P Series User Guide www.comoso.com...
  • Page 105 (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 Variable Index Name Format Accessibility Allocation Unit Index 0x60FD (Digital Inputs UDINT P Series User Guide www.comoso.com...

  • Page 106: Table 60. User Input Related Objects

    DI #C(I/O pin 25), 0:Open, 1:Close DI #D(I/O pin 26), 0:Open, 1:Close DI #E(I/O pin 27), 0:Open, 1:Close DI #F(I/O pin 28), 0:Open, 1:Close DI #10(I/O pin 29), 0:Open, 1:Close Table 60. User Input Related Objects P Series User Guide www.comoso.com...

  • Page 107: Table 61. User Output Related Objects

    0 or 1, at the relevant port (bit 16~23)  Related Objects Variable Index Name Format Accessibility Allocation Unit Index Digital Outputs Number of entries USINT 0x60FE Physical outputs UDINT Bit mask UDINT Table 61. User Output Related Objects P Series User Guide www.comoso.com...

  • Page 108: Table 62. Physical Output Descriptions

    DO#2(I/O pin 45, 46)output status setting (0:Disable, 1:Enable) DO #3(I/O pin 47, 48)output status setting (0:Disable, 1:Enable) DO #4(I/O pin 49, 50)output status setting (0:Disable, 1:Enable) 24 to 31 Reserved Table 63. Bit Mask Descriptions P Series User Guide www.comoso.com...

  • Page 109: Tuning

    5.9 Analog Monitor 5.9.1 Related Objects 5.9.2 Analog monitor output mode(0x2220) setting 5.9.3 Analog monitor channel 1 setting (0x2221) 5.9.4 Setting Example 5.10 Gain Conversion 5.10.1 Gain Group Conversion 5.10.2 Related Objects 5.10.3 P/PI Control Conversion P Series User Guide www.comoso.com...

  • Page 110: Servo Tuning Overview

    Therefore, the commanded position is the intended position at any given point of time. To view the commanded position, use the drive support tool. (drive setup software) Figure 30. Commanded Position P Series User Guide www.comoso.com...

  • Page 111: Actual Position

    One common misperception is that whenever there is oscillation, the system is unstable. It is important to recognize that a system is considered stable if the oscillation finally diminishes (damps out), even if it takes a long time. 5.3.2 Position Response Types P Series User Guide www.comoso.com...

  • Page 112: Performance Measurements

    Please set the appropriate value depending on the rigidity of the load being operated. As shown in the figure below, commands in the sinusoidal form are generated either in the forward or reverse direction depending on the set value of the offline gain tuning direction. P Series User Guide www.comoso.com...

  • Page 113: Related Objects

    5.4.1 Related Objects Variable Index Name Accessibility Unit Index Format Allocation 0x250E System Rigidity for Gain Tuning UINT 0x2510 Off-line Gain Tuning Direction UINT 0x2511 Off-line Gain Tuning Distance UINT Table 64. Auto Tuning Related Objects P Series User Guide www.comoso.com...

  • Page 114: Automatic Gain Tuning (On-Line)

     - 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). - Notchfilter3frequency, notchfilter4frequency (0x2507, 0x250A)  Please refer automatic notch setting function. P Series User Guide www.comoso.com...

  • Page 115: On-Line Auto Tuning Object

    If you set the value to 1, it performs an online auto-tuning. Please select it when variation of load inertia is small or you don’t know inertia ratio. Estimated value of gain is stored in EEPROM roughly every two minutes during on-line auto tuning. P Series User Guide www.comoso.com...

  • Page 116: Setting System Rigidity When On-Line Auto Tuning

    5.5.4 On-line auto tuning adaption speed Variabl Acce Index Name ssibili Alloc Unit Index Format ation 0x250F (On-line Tuning Adaptation Speed ) UINT You can set the on-line tuning adaptation speed. Larger predetermined value reflects change of gain more quickly. P Series User Guide www.comoso.com...

  • Page 117: Manual Gain Tuning

    Feed forward value can be set from 0 to 100%. The value is the ratio of the position command value currently being input against the difference C. Position command filter setting It provides smoother position command P Series User Guide www.comoso.com...

  • Page 118: Vibration Control

    (Vibration Suppression Filter 0x2515 UINT Configuration) (Vibration Suppression Filter 1 0x2516 UINT 0.1[Hz] Frequency) (Vibration Suppression Filter 1 0x2517 UINT Damping) (Vibration Suppression Filter 2 0x2518 UINT 0.1[Hz] Frequency) (Vibration Suppression Filter 2 0x2519 UINT Damping) P Series User Guide www.comoso.com...

  • Page 119: Setting Vibration Suppression Filter(0X2515)

    Notch Filter 1 Width UINT 0x2503 Notch Filter 1 Depth UINT 0x2504 Notch Filter 2 Frequency UINT 0x2505 Notch Filter 2 Width UINT 0x2506 Notch Filter 2 Depth UINT 0x2507 Notch Filter 3 Frequency UINT P Series User Guide www.comoso.com...

  • Page 120: Adaptive Filter

    4 setting (0x250A, 0x250B). Uses only 2 adaptive filters. The automatically set values can be confirmed at notch filter3 (0x2507, 0x2508) and notch filter 4 (0x250A, 0x250B) setting. Reserved Table 66. Adaptive Filter Related Objects P Series User Guide www.comoso.com...

  • Page 121: Analog Monitor

    Variable Index Name Accessibility Unit Index Format Allocation 0x2220 Analog Monitor Output Mode UINT Analog Monitor Channel 1 0x2221 UINT Select Analog Monitor Channel 2 0x2222 UINT Select Analog Monitor Channel 1 0x2223 DINT Offset P Series User Guide www.comoso.com...

  • Page 122: Analog Monitor Output Mode(0X2220) Setting

    Speed command Speed error Torque feedback Torque command Position error pulse accumulated operation overload rate DC Link voltage accumulated regeneration overload rate encoder single-turn data pulse Inertia ratio Full-Closed position error (Reserved) drive temperature 1 °C P Series User Guide www.comoso.com...

  • Page 123: Setting Example

    Output offset : 0 rpm Output offset : 1000 rpm Output scale : 500rpm/V Output scale : 500rpm/V Monitors signals by amplifying them 5 times Output offset : 1000 rpm Output scale : 100rpm/V Figure 38. Setting Example P Series User Guide www.comoso.com...

  • Page 124: Gain Conversion

    The waiting time and conversion time during gain conversion are as follows. Gain group 1 Gain conversion time Gain group2 1(0x211A) Position loop gain1(0x2101) Position loop gain2(0x2105) Speed loop gain1(0x2102) Gain conversion waiting Speed loop gain2(0x2106) P Series User Guide www.comoso.com...

  • Page 125: Related Objects

    P control refers to control using only proportion gain. Proportion gain determines the response of the overall controller, and the integral gain is used to remove the error of the steady state. Excessive integral gain leads to overshoot during acceleration/deceleration. P Series User Guide www.comoso.com...

  • Page 126: Figure 39. P/Pi Control Conversion

    Convert to P control when the command speed is over the P control switch speed(0x2116) Convert to P control when the acceleration command is over the P control switch speed(0x2117) Convert to P control when the following error is over the P control switch following error(0x2117) P Series User Guide www.comoso.com...

  • Page 127: Figure 40. Example Of P/Pi Conversion

    By using appropriate P/PI conversion mode, you can reduce the determination time. The figure below shows an example of conversion mode by torque command. Figure 40. Example of P/PI Conversion P Series User Guide www.comoso.com...

  • Page 128: Command Reference

    6.9.1 Position Command Filter 6.9.2 Signals Related with Position Control 6.10 Limit Setting 6.10.1 Forward/Reverse Limit Setting 6.10.2 Brake Output Signal Function Setting 6.10.3 Torque Limit Setting 6.11 Absolute Encoder Data Transmission 6.12 Touch Probe Function P Series User Guide www.comoso.com...

  • Page 129: Pulse Input Position Operation

    Position Statusword (0x6041.10) WindowTime Reached Window Following Error in (0x6068) Comparator Following Following Statusword (0x6041.13) Error TimeOut Error Window Position Actual (0x6066) Comparator Value (0x6064) Following Error Position Reached Figure 41. Pulse Input Position Operation P Series User Guide www.comoso.com...

  • Page 130: Function Setting Of Pulse Input Logic

    DINT pulse Value Position Actual Internal 0x6063 DINT pulse Value 0x6064 Position Actual Value DINT 0x60B1 Speed Offset DINT UU/s 0x60B2 Torque Offset 0.1% 0x606C Speed Actual Value DINT UU/s 0x6077 Torque Actual Value 0.1% P Series User Guide www.comoso.com...

  • Page 131: P Series User Guide

    Encoder Output Pulse UDINT Pulse 0x3007 Encoder Output Mode UINT 0x3008 Start Index Number(0~63) UINT Analog Torque 0x221C Input(Command/ Limit) UINT 0.1%/V Scale Analog Torque 0x221D Input(Command/ Limit) Offset Table 72. Pulse Input Logic Related Objects P Series User Guide www.comoso.com...

  • Page 132: Block Diagram

    Calulation Ext. Positive 0x2111 Current Control Ext. Negative 0x2112 Positon Encoder Motor Gain 0x2514 Positive 0x60E0 Calulation Negative 0x60E1 0x6074 Torque Demand Max. 0x6072 Value [0.1%] Figure 42.Inner Block Diagram under the Pulse Input Position P Series User Guide www.comoso.com...

  • Page 133: Function Setting Of Pulse Input Filter

    After setting ‘2’ in control mode[0x3000], choose the selection of speed command switch[0x231A] depending on command method to servo drive. The Block diagram of velocity control mode is as below . P Series User Guide www.comoso.com...

  • Page 134: Related Objects

    0x2204 Digital Input Signal 5 Selection UINT 0x2205 Digital Input Signal 6 Selection UINT 0x2206 Digital Input Signal 7 Selection UINT 0x2207 Digital Input Signal 8 Selection UINT 0x2208 Digital Input Signal 9 Selection UINT P Series User Guide www.comoso.com...

  • Page 135: Function Set Of Velocity Command Switch

    Ex 2) Set value is 2 and, Input Analog command 10[V] in the state that SPD1, SPD2 and SPD3 are on. Operating motor speed is 1000[rpm] and not available digital input command speed. Operating speed is operated by analog speed command voltage in the set value of parameter 0x2229. P Series User Guide www.comoso.com...

  • Page 136: Analog Velocity Command

    Analog velocity command clamp level 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. P Series User Guide www.comoso.com...

  • Page 137: Digital Command Scale

    Speed command 3 (Parameter 0x2314) Speed command 4 (Parameter 0x2315) Speed command 5 (Parameter 0x2316) Speed command 6 (Parameter 0x2317) Speed command 7 (Parameter 0x2318) Speed command 8 (Parameter 0x2319) Table 77. Speed setting by Digital Input Signal P Series User Guide www.comoso.com...

  • Page 138: Torque Control

    0x6064 - Position Actual Value DINT 0x60B1 - Velocity Offset DINT UU/s 0x60B2 - Torque Offset 0.1% 0x606C - Velocity Actual Value DINT UU/s 0x6077 - Torque Actual Value 0.1% 0x6065 - Following Error Window UDINT P Series User Guide www.comoso.com...
  • Page 139 Encoder Output Mode UINT Analog Torque 0x221C - UINT Input(command/limit) Scale Analog Torque 0x221D - Input(command/limit) Offset Analog Torque Command Filter 0x2228 - UINT Time Constant Speed Limit Value Torque 0x230E - UINT Control Mode P Series User Guide www.comoso.com...

  • Page 140: Analog Torque Command Scale

    A c t u a l V a lu e [p u lse] Figure 44. Torque Controller Inner Block Diagram 6.5.1 Analog Torque Command Scale [%] unit set for analog torque command per 1[V] Torque +10V -10V Voltage P Series User Guide www.comoso.com...

  • Page 141: Speed Setting In Torque Control

    Index Analog Torque 0x221C UINT Input(command/limit) Scale Analog Torque 0x221D Input(command/limit) Offset Analog Torque Command 0x2228 UINT Filter Time Constant 0x230D Speed Limit Function Select UINT Speed Limit Value at Torque 0x230E UINT Control Mode P Series User Guide www.comoso.com...

  • Page 142: Homing

    During reverse operation, the motor is returned to origin by negative limit switch (NOT) and index (Z) pulse. During forward operation, the motor is returned to origin by positive limit switch (POT) and index (Z) pulse. P Series User Guide www.comoso.com...

  • Page 143: Related Objects

    0x6098 Homing Method SINT Homing speed Number of entries USINT 0x6099 Speed during search for UDINT UU/s switch Speed during search for zero UDINT UU/s 0x609A Homing Acceleration UDINT UU/s Table 79. Homing Related Objects P Series User Guide www.comoso.com...
  • Page 144 B. When the negative limit switch (NOT) is on, the direction changes to forward (CCW). The motor decelerates to Zero search speed. C. While operating at Zero search speed, the first index pulse is detected, and the motor rotates to the index position (Home). P Series User Guide www.comoso.com...
  • Page 145 B. When the positive limit switch (POT) is on, the motor decelerates to Zero search speed, and the direction changes to reverse (CW). C. While operating at Zero search speed, the first index pulse is detected, and the motor rotates to the index position (Home). P Series User Guide www.comoso.com...
  • Page 146 B. When the positive limit switch (POT) is on, the motor decelerates and stops. Then, the motor operates reverse (CW) at the switch search speed. C. When the Positive Home Switch is off, the motor decelerates to Zero search speed. P Series User Guide www.comoso.com...
  • Page 147 Please see the explanations below. The sequence varies in each of the three cases below, depending on the load position at the time of homing and the relationship of home switches. Please see the explanations below. Please see the explanations below for further details. P Series User Guide www.comoso.com...
  • Page 148 B. When the Home Switch is off, the motor decelerates to Zero search speed. C. While operating at Zero search speed, the first index pulse is detected, and the motor rotates to the index position (Home). P Series User Guide www.comoso.com...
  • Page 149 Method 14 explained above, except for differences in initial direction and actions pertaining to Home switch positivity/negativity.  Method 24 The initial direction is forward (CCW), and the position where the Positive Home Switch is on becomes the home position home position. P Series User Guide www.comoso.com...
  • Page 150 The initial direction 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 Method 44. The index pulse is detected at Zero search speed. P Series User Guide www.comoso.com...
  • Page 151 You can use these methods when not using a separate home switch.  Methods -1, -2 Homing Methods -1, -2 uses Stopper and Index(Z) pulse to return to origin. The speed profile of each sequence is as follows. Please see the explanations below for further details. P Series User Guide www.comoso.com...
  • Page 152 A. The initial direction is forward (CCW). The motor operates at the switch search speed. B. When the motor hits the Positive Stopper, the motor stands by based on the torque limit for homing using stopper (0x2409) and set value of homing time (0x240A), and changes direction.. P Series User Guide www.comoso.com...
  • Page 153 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 for further details. A. The initial direction is reverse (CW). The motor operates at the switch search speed. P Series User Guide www.comoso.com...

  • Page 154: Electronic Gear Setting

    Using the drive’s electronic gear function prohibits maximizing the use of the encoder’s resolution. Therefore, if the host device has an electronic gear function, we recommend using the host device. Please set the gear ratio between 1000~1/1000. P Series User Guide www.comoso.com...
  • Page 155 Motor Revolutions =5000 Motor Revolutions =524288 Electronic gear setting Shaft Revolutions = 10000 Shaft Revolutions = 10000 With electronic You can give the same command to move 12000(12mm= gear 12000*1um) regardless of the encoder (motor) type. P Series User Guide www.comoso.com...

  • Page 156: Example Of Electronic Gear Setting

    Shaft Revolutions : 10000  Turntable Load Unit Specifications Deceleration ratio:100/1 User Unit 0.001° Encoder Specifications 19bit(524288 PPR) Load Movement / 1 360/100/0.001=3600 revolution Motor Revolutions : 524288 Electronic Gear setting Shaft Revolutions : 3600 P Series User Guide www.comoso.com...

  • Page 157: Speed Control Setting

    (See the figure below) Speed command Speed command Figure 46. Speed Control The actual acceleration/deceleration time can be calculated as follows. P Series User Guide www.comoso.com...

  • Page 158: Servo Lock Function

    As shown in the figure below, when the value of the speed feedback goes under the ZSPD output range (0x2404), the ZSPD (0 speed) signal is displayed. If the value goes over the TGON output range (0x2405), the TGON (motor revolution) signal is displayed. P Series User Guide www.comoso.com...

  • Page 159: Position Control Setting

    (0x2109) and the position command average filter time constant using movement average (0x210A). Position command filter can be used in the following cases. (1) Cases where the electronic gear ratio is 10 times or higher (2) Cases where the host device cannot create acceleration/deceleration profile. P Series User Guide www.comoso.com...

  • Page 160: Figure 48. Position Command Filter

     Related Objects Variable Index Name Accessibility Unit Index Format Allocation Position Command Filter 0x2109 UINT 0.1ms Time Constant Position Command 0x210A Average Filter Time UINT 0.1ms Constant Table 83. Position Command Filter Related Objects P Series User Guide www.comoso.com...

  • Page 161: Signals Related With Position Control

    (In case of output time =  Related Objects Variable Index Name Accessibility Unit Index Format Allocation 0x2401 INPOS1 Output Range UINT 0x2402 INPOS1 Output Time UINT 0x2403 INPOS2 Output Range UINT Table 84. Position Control Related Objects P Series User Guide www.comoso.com...

  • Page 162: Limit Setting

    Decelerate and stop using the emergency stop torque (0x2113)  Related Objects Variable Index Name Format Accessibility Allocation Unit Index Dynamic Brake Control 0x2012 UINT Mode Emergency Stop 0x2013 UINT Configuration 0x2113 (Emergency Stop Torque UINT Table 85. Limit Setting Related Objects P Series User Guide www.comoso.com...

  • Page 163: Brake Output Signal Function Setting

    When using a motor with the brake equipped at the vertical shaft, you can prevent slipping in the vertical direction by first outputting the brake signal and turning off PWM after the set time. P Series User Guide www.comoso.com...
  • Page 164 Cases where the PWM is turned off before the brake signal is output. When the PWM output is turned off before the brake signal output, the load falls in the vertical direction, pulled down by the gravity. P Series User Guide www.comoso.com...

  • Page 165: Torque Limit Setting

    - Forward: 0x60E0, B Torque is limited using the forward/negative torque limit value depending on the direction of rotation. ackward: 0x60E1 Internal Torque Limit 2 (Set Value 1) The torque is limited only by the maximum torque (0x6072) regardless of the direction P Series User Guide www.comoso.com...
  • Page 166 Torque is limited using the internal and external positive/negative torque limit value depending on the direction of rotation and torque limit signal. - Forward: 0x60E0(PCL without signal input), 0x2111(with PCL signal input) - Reverse: 0x60E1(NCL without signal input), 0x2112(with NCL signal input) P Series User Guide www.comoso.com...
  • Page 167 - Regardless of the positivity/negativity of analog input voltage, when inputting +/-10[V], the torque is limited in the forward/reverse direction (Set Value 4) with 300[%]torque - The relationship between analog input voltage and torque limit is as follows. P Series User Guide www.comoso.com...

  • Page 168: Figure 50. Torque Limit

    0.1% Value External Negative Torque Limit 0x2112 UINT 0.1% Value 0x6072 Maximum Torque UINT 0.1% 0x60E0 Positive Torque Limit Value UINT 0.1% 0x60E1 Negative Torque Limit Value UINT 0.1% Table 86. Torque Limit Related Objects P Series User Guide www.comoso.com...

  • Page 169: Absolute Encoder Data Transmission

    (division ratio). 200[ms] after the single-turn data transmission begins, the drive goes back to the normal encoder output signal. Figure 51. Absolute Encoder Data Sequence P Series User Guide www.comoso.com...

  • Page 170: Touch Probe Function

    In case of simultaneous input through 2 channels, the values can be separately latched at each of the positive/negative edges.  Trigger by touch probe 1(I/O, PROBE1)  Trigger by touch probe 2(I/O, PROBE2) P Series User Guide www.comoso.com...

  • Page 171: Table 87. Touch Probe Function Related Objects

    Position 3 Latched (0x60BC) Probe input Continuous Trigger Mode (0x60B8.1=1, 0x60B8.9=1): At continuous trigger mode, Bits 6, 7, 14, 15 of touch probe status (0x60B9) toggles between 0 and 1 every time the relevant input/edge is input. P Series User Guide www.comoso.com...

  • Page 172: Figure 53. Touch Probe Function Timing Diagram

    0x60B8.1 (0x60B8.9) 0x60B8.2 (0x60B8.10) Position 1 Position 5 Position 6 Position 7 Position 8 Position 9 0x60BA Latched Latched Latched Latched Latched Latched (0x60BC) 0x60B9.6 (0x60B9.14) Index(Z) Pulse Figure 53. Touch Probe Function Timing Diagram P Series User Guide www.comoso.com...

  • Page 173: Procedure

    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 Reset 7.1.8 Phase Current Offset Tuning 7.1.9 Software Reset 7.1.10 Commutation P Series User Guide www.comoso.com...

  • Page 174: Procedure Function

    Operation speed is set considering the condition of the machine  Related Objects Variable Index Name Accessibility Unit Index Format Allocation 0x2300 Jog Operation Speed Speed Command 0x2301 UINT Acceleration Time Speed Command 0x2302 UINT Deceleration Time P Series User Guide www.comoso.com...

  • Page 175: Program Jog Operation

    Please check the following before operation  The main power is ON  No alarm  Servo is OFF  Speed and time are set considering the condition of the machine Figure 54. Program Jog Operation P Series User Guide www.comoso.com...

  • Page 176: Alarm Record Detection

    This function deletes all alarm code history Stored in the drive. The alarm history of the newest alarm and up to 16 previous alarms is Stored in the drive. The alarm history can be viewed at0x2702:01~16, as shown below. The newest recent alarm is displayed at 0x2702:01. P Series User Guide www.comoso.com...

  • Page 177: Automatic Gain Tuning

    As it uses the speed operation mode to find the position, it is used in finding an estimation of the position. The exact index pulse position can be found with homing operation. The speed for index pulse search is set at 0x230C[rpm]. P Series User Guide www.comoso.com...

  • Page 178: Absolute Encoder Reset

    Changing the home offset (0x607C) during operation will not change the position actual value (0x6064).  Related Objects Variable Index Name Accessibility Unit Index Format Allocation 0x2005 Absolute Encoder Configuration UINT 0x2607 Single Turn Data UDINT pulse P Series User Guide www.comoso.com...

  • Page 179: Instantaneous Maximum Torque Reset

    The product is released with the offset tuned by default. The measured Phase U/V/W offset are stored at 0x2015, 0x2016, 0x2017, respectively. AL-15 occurs when the offset is abnormally large. P Series User Guide www.comoso.com...

  • Page 180: Software Reset

     Related Objects Variable Index Name Format Accessibility Allocation Unit Index 0x2019 Linear Scale Resolution UINT 0x201A Commutation Method UINT 0x201B Commutation Current UINT 0.1% 0x201C Commutation Time UINT Table 96. Commutation Related Objects P Series User Guide www.comoso.com...

  • Page 181: Indexer

    Blending Absolute and Relative Move 8.2.5 Rotary Absolute and Relative Move 8.2.6 Rotary Shortest Move 8.2.7 Rotary Positive and Negative Move 8.3 Functions of Index Input Signal 8.4 Functions of Index Output Signal 8.5 Analog Speed Override P Series User Guide www.comoso.com...

  • Page 182: Indexer Overview

    Position Position Statusword (0x6041.10) WindowTime Reached Window Following Error in (0x6068) Comparator Following Following Statusword (0x6041.13) Error TimeOut Error Window Position Actual (0x6066) Comparator Value (0x6064) Following Error Position Reached Figure 55. Indexing Position Operation P Series User Guide www.comoso.com...

  • Page 183: Table 97. Indexing Position Operation Related Objects

    Action UINT 0x313F Index 63 Analog Torque 0x221C UINT 0.1%/V Input(Command/Limit) Scale Analog Torque 0x221D Input(Command/Limit) Offset 0x221E Analog Speed Override Mode UINT 0x221F Analog Speed Override Offset Table 97. Indexing Position Operation Related Objects P Series User Guide www.comoso.com...
  • Page 184 Window 0x6066 TimeOut Time1 0x211A 0x6064 Position Actual Pulse Output 0x211B Time2 Value [UU] A phase B phase Encoder Output Pulse Waiting 0x211C Z phase Time1 Regeneration Waiting OutPulse 0x3006 0x211D Time2 Output 0x3007 Mode P Series User Guide www.comoso.com...

  • Page 185: Coordinate Setting

    Linear coordinate expresses the position value within the range from–2147483648 to +2147483647. If the value exceeds +2147483647 when rotating forward, the lowest value (–2147483648) is displayed. If the value exceeds–2147483648 when rotating reverses, the highest value (+2147483647) is displayed. P Series User Guide www.comoso.com...
  • Page 186  Rotary Coordinate Method The rotary coordinate expresses position values only in positive values. The expressed range depends on the set value of the modulo factor, within the range of 0 ~ (Modulo Factor-1). P Series User Guide www.comoso.com...
  • Page 187 The motor is operated always in the - direction. Depending on the distance value, the motor rotates within one cycle (the value set at the Modulo Factor. The distance value is handled as absolute value. P Series User Guide www.comoso.com...

  • Page 188: Index Structure

    1 ~ 2147483647(Unit: UU/s) Repeat Count 1 ~ 65535 Dwell Time 0 ~ 65535(Unit: ms) Next Index 0 ~ 63 0 : Stop Action 1 : Wait for Start 2 : Next Index Table 98. Index Structure P Series User Guide www.comoso.com...

  • Page 189: Indexing Position Operation

    When the moving distance is not sufficient compared with the set value of speed and acceleration/deceleration, a triangular pattern may be generated, which means the speed failed to reach the target speed. P Series User Guide www.comoso.com...
  • Page 190 The meaning of registration distance and registration speed is as follows. A. Registration Distance Means the distance (Unit: UU) after the REGT signal input. B. Registration Speed Means the target speed (Unit: UU/s) for movement after the REGT signal input. P Series User Guide www.comoso.com...
  • Page 191 The set value of dwell time does not apply to repeated index operation.  Dwell Time It sets the dwell time for index operation (Unit: ms). The set dwell time value is applied after the operation pattern of the index is generated. P Series User Guide www.comoso.com...
  • Page 192 If the action of the index is set to Stop (set value 0), the overall sequence is completed after the relevant index is complete. When the start signal is input from outside, the indexing position operation begins from the index (0~63) set as the start index (0x3008). P Series User Guide www.comoso.com...
  • Page 193 If the action of the index is set to Next Index(set value 2), the index set as the next index automatically begins after the end of the relevant index. The preset index automatically begins without input of the digital input signal (START, ISEL0 ~ 5). D. Example of Action Setting P Series User Guide www.comoso.com...

  • Page 194: Absolute And Relative Move

    Example) Absolute move when current position = 500 and Distance = 1000 time  Relative Move The final distance is the input value of the distance. Example) Relative move when current position = 500 and Distance = 1000 P Series User Guide www.comoso.com...

  • Page 195: Registration Absolute And Relative Move

    Registration Relative Move Performs relative 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 set registration distance P Series User Guide www.comoso.com...

  • Page 196: Blending Absolute And Relative Move

    )In this case, the final position is determined considering the Modulo Factor. Inputting a negative value is a useful way to make the motor rotate reverse past the 0 position. Depending on the command value, the motor may rotate more than 1 cycle. P Series User Guide www.comoso.com...

  • Page 197: Rotary Shortest Move

    The motor rotates within one cycle (value set for Modulo Factor: 0x240C). The set distance value is processed as absolute value. The figure below shows reverse rotation (the direction with the shorter distance) from to 310 ,and forward rotation from 30 to 180 P Series User Guide www.comoso.com...

  • Page 198: Rotary Positive And Negative Move

    The motor rotates within one cycle (value set for Modulo Factor: 0x240C). The set distance value is processed as absolute value. The figure below shows reverse rotation from 60 to 340 and from 340 to 180 P Series User Guide www.comoso.com...

  • Page 199: Functions Of Index Input Signal

    When the stop signal (Rising Edge) is input, the motor stops at the set deceleration (0x6085), ending the index operation sequence. When the start signal is input again, the operation resumes from the index set as the start index (0x3008). P Series User Guide www.comoso.com...
  • Page 200 After returning to the original position, the ORG (origin) signal is displayed. At the start of the return to the origin, the ORG signal is rest to 0.  JSTART / JDIR P Series User Guide www.comoso.com...
  • Page 201 JOG operation is performed using the speed control mode. Related Objects Description JOG operation speed (0x2300) Speed command acceleration time (0x2301) See “ 6.6 Speed Control Setting “. Speed command deceleration time(0x2302) Speed command S-curve time (0x2303)  Servo motor rotation direction. P Series User Guide www.comoso.com...

  • Page 202: Functions 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 currently performed is displayed (IOUT0~5). P Series User Guide www.comoso.com...

  • Page 203: Analog Speed Override

    Related Objects Variable Index Name Access Allocation Unit Index Format Analog speed override mode 0x221E UINT (Analog Speed Override Mode) Analog speed override offset 0x221F (Analog Speed Override Offset) Table 99. Analog Speed Override Related Objects P Series User Guide www.comoso.com...

  • Page 204: Object

    Parker Hannifin 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 P Series User Guide www.comoso.com...

  • Page 205: Object Dictionary

    Device Type Variable Default Accessi Change Set Range Unit Store Format value bility Allocation Property UDINT 0x00020192 Displays the device type and functions 16 15 Additional information Device profile number 0x0002 : 서보드라이브 0x0192 : DS402 P Series User Guide www.comoso.com...

  • Page 206: Table 101. Hardware Version

    Default Accessib Change Setting Range Unit Store Format Value ility Allocation Property UDINT 0 to 0xFFFFFFFF Sub Index 2 Store communication parameters Variable Default Accessib Change Setting Range Unit Store Format Value ility Allocation Property P Series User Guide www.comoso.com...

  • Page 207: Table 103. Store Parameters

    Setting Range Unit Store Format Value ility Allocation Property UDINT 0 to 0xFFFFFFFF SubIndex 4 Restore drive specific parameters Variable Default Accessib Change Setting Range Unit Store Format Value ility Allocation Property UDINT 0 to 0xFFFFFFFF P Series User Guide www.comoso.com...

  • Page 208: Table 104. Restore Parameters

    Unit Store Format Value ility Allocation Property UDINT SubIndex 4 Serial number Variable Default Accessib Change Setting Range Unit Store Format Value ility Allocation Property UDINT Table 105. Identity Object Shows information on the device P Series User Guide www.comoso.com...

  • Page 209: Manufacturer Specific Objects

    BiSS Serial Absolute(multi-turn 16bit) coming soon BiSS Serial Absolute(multi-turn 20bit) coming soon BiSS Serial Absolute(multi-turn 24bit) coming soon Sinusoidal(1Vpp) Analog Hall Sinusoidal to BiSS coming soon Reserved Tamagawa Serial(single turn only) Tamagawa Serial Absolute(multi-turn 16 bit) EnDat 2.2 P Series User Guide www.comoso.com...

  • Page 210: Table 107. Encoder Pulse Per Revolution

    Set Value Descriptions Positive command turns the motor counter clockwise. In this case, the position feedback value increases Positive command turns the motor clockwise. In this case, the position feedback value decreases. P Series User Guide www.comoso.com...
  • Page 211 Single phase power supply Main power supply 3phase power supply setting DC power supply Sets off alarm (AL-24) in case of main power fail Countermeasure against main power frosting Sets off warning(W-01)in case of main power fail P Series User Guide www.comoso.com...
  • Page 212 Internal temperature of the encoder Node ID 0x2009 Regeneration brake Resistor Configuration Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 0 to 1 Servo Off Settings related to regeneration brake. P Series User Guide www.comoso.com...
  • Page 213 (0x2009= 0), the set value does not apply. 0x200D Peak Power of Regeneration brake Resistor Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 1 to 50000 watt Servo Off P Series User Guide www.comoso.com...
  • Page 214 PWM after the set time, to prevent vertical slipping. 0x2012 Dynamic Brake Control Mode Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 0 to 3 Servo Off P Series User Guide www.comoso.com...
  • Page 215 Stop the motor using the method set at the dynamic brake mode (0x2012) Stop the motor using the dynamic brake and maintain the torque command at 0 Decelerate and stop using the emergency stop torque(0x2113) P Series User Guide www.comoso.com...
  • Page 216 (0x2700 See descriptions) will allow for checking the auto- tuned values. 0x2017 W Phase Current Offset Variable Default Acces Change Stor Setting Range Unit Allocati Format Value sibility Property -1000 to 1000 0.1% Servo Off P Series User Guide www.comoso.com...
  • Page 217 Reserved 0x201B Commutation Current Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 0 to 1000 0.1% Servo Off Set commutation current to get information for first angle of motor P Series User Guide www.comoso.com...
  • Page 218 Motor will not move and home offset [0x607C] value will be zero position after homing by homing method [0x6098] Motor will be rotate as much as home offset and zero offset will be 0, after homing by homing method [0x6098] P Series User Guide www.comoso.com...
  • Page 219 1 to 1000 times Set the integral time constant of the speed controller. Higher value decreases the error under the steady state (stop or operation at regular speed). However, excessive state (acceleration/deceleration) may cause vibration. P Series User Guide www.comoso.com...
  • Page 220 Property Format At all UINT 0 to 1000 0.1ms times Sets the torque command filter time constant used as gain group 2 for gain conversion. Please see descriptions on torque command filter time constant 1(0x2104). P Series User Guide www.comoso.com...
  • Page 221 When tuning the gain, please increase the set value gradually. 0x210D Speed Feed-forward Filter Time Constant Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format At all UINT 0 to 1000 0.1ms times P Series User Guide www.comoso.com...
  • Page 222 - Reverse: 0x60E1(NCL without signal input), 0x2112(with NCL signal input) The torque is limited using the torque limit value depending on the analog input voltage. - See analog torque limit scale (0x221C) and offset(0x221D) P Series User Guide www.comoso.com...
  • Page 223 Convert to P control when the command speed is over the P control switch speed(0x2116) Convert to P control when the acceleration command is over the P control switch speed(0x2117) Convert to P control when the following error is over the P control switch following error(0x2117) P Series User Guide www.comoso.com...
  • Page 224 0 to 7 times Converting between two gain groups improves the overall system performance. Depending on the conversion mode, you can either manually convert through external input signal or automatically convert based on the output signal. P Series User Guide www.comoso.com...
  • Page 225 Gain Conversion Time 2 Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format At all UINT 0 to 1000 times Set the time for conversion from gain group2 to gain group1. P Series User Guide www.comoso.com...
  • Page 226 OR calculation of the signal input through the I/O connector and the bit value under this setting. Please see the table below for input descriptions Setting Details HOME STOP PCON GAIN2 P_CL N_CL Reserved P Series User Guide www.comoso.com...
  • Page 227 Value sibility Property Format UINT 0 to 0xFFFF Other than outputting the drive’s output signal status by allocating it to the I/O connector output signal, you can check the bit corresponding to the output value. P Series User Guide www.comoso.com...
  • Page 228 Other than outputting the drive’s output signal status by allocating it to the I/O connector output signal, you can check the bit corresponding to the output value. Setting Details IOUT0 IOUT1 IOUT2 IOUT3 IOUT4 IOUT5 15~8 Reserved P Series User Guide www.comoso.com...
  • Page 229 HSTART 0x14 ISEL0 0x15 ISEL1 0x16 ISEL2 0x17 ISEL3 0x18 ISEL4 0x19 ISEL5 0x1A ABSRQ 0x1B JSTART 0x1C JDIR 0x1D PCLR 0x1E AOVR 0x20 SPD1 / LVSF1 0x21 SPD2 / LVSF2 0x22 SPD3 0x23 MODE P Series User Guide www.comoso.com...
  • Page 230 Set the function of I/O connector’s digital input signal 6 and input signal level. Please see the descriptions 0x2200 for more detailed explanation. 0x2206 Digital Input Signal 7 Selection Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 0 to 0xFFFF 0x0012 Power P Series User Guide www.comoso.com...
  • Page 231 Please see the descriptions 0x2200 for more detailed explanation 0x220B Digital Input Signal 12 Selection Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format Power UINT 0 to 0xFFFF 0x0015 Resupply P Series User Guide www.comoso.com...
  • Page 232 Set the function of I/O connector’s digital input signal 16 and input signal level. Please see the descriptions 0x2200 for more detailed explanation. 0x2210 Digital Output Signal 1 Selection Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 0 to 0xFFFF 0x8002 Power P Series User Guide www.comoso.com...
  • Page 233 Property Format Power UINT 0 to 0xFFFF 0x8001 Resupply Allocates the function of I/O connector’s digital output signal 3, and sets the output signal level. See the descriptions on 0x2210 for more detailed explanation. P Series User Guide www.comoso.com...
  • Page 234 Property Format Power UINT 0 to 0xFFFF 0x0006 Resupply Allocates the function of I/O connector’s digital output signal 8, and sets the output signal level. See the descriptions on 0x2210 for more detailed explanation. P Series User Guide www.comoso.com...
  • Page 235 Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format -1000 to 1000 Servo Off In the case of Indexing Position control mode, set analog voltage offset input by analog velocity override. P Series User Guide www.comoso.com...
  • Page 236 Encoder single-turn data pulse Inertia ratio Full-Closed position error(Reserved) drive temperature 1 °C drive temperature2 °C Encoder temperature (Reserved) °C Hall sensor signal U phase current V phase current W phase current P Series User Guide www.comoso.com...
  • Page 237 1..The unit is the unit/1V of the variable set at analog monitor channel 1 setting (0x2221). For example, by setting the speed feedback to channel 1 and set the scale to 500, up to +/-5000rpm can be output at +/-10V. P Series User Guide www.comoso.com...
  • Page 238 Velocity command value at ±10[V] in [rpm] unit. If the value is 100, controlling 100 [rpm] per the command voltage 1[V]. 0x222A Analog Velocity Command Clamp Level Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format At all UINT 0 to 1000 times P Series User Guide www.comoso.com...
  • Page 239 Parker Hannifin 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. P Series User Guide www.comoso.com...
  • Page 240 Acces Change Stor Setting Range Unit Allocati Value sibility Property Format At all -6000 to 6000 times For program jog operation, you can set operation speed 1~4 and operation time 1~4 for each operation speed. P Series User Guide www.comoso.com...
  • Page 241 Please see descriptions on speed 1(0x2304). 0x230A Program Jog Operation Time 3 Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format At all UINT 0 to 10000 times Please see descriptions on speed 1(0x2304). P Series User Guide www.comoso.com...
  • Page 242 0 to 10000 6000 times Sets the detection level for the excessive speed alarm (AL-50).When the set value is higher than the motor’s maximum speed, the detection level is determined by the motor’s maximum speed P Series User Guide www.comoso.com...
  • Page 243 SPD1 is ON while SPD2 and SPD3 are OFF. 0x2314 Multi-Step Operation Speed 3 Variabl Default Acces PDOAll Change Stor Setting Range Unit Value sibility ocation Property Format At all -32768 to 32767 times P Series User Guide www.comoso.com...
  • Page 244 Value sibility ocation Property Format At all -32768 to 32767 1500 times Setting for Multi-Step Operation Speed 8 in Velocity operation mode. It is the speed when input contact SPD1, SPD2 and SPD3 are OFF. P Series User Guide www.comoso.com...
  • Page 245 (0x607D:02) and (0x607D:01), respectively. The software position limit function does not work before the homing action. The function does not work when the upper limit is lower than the lower limit. P Series User Guide www.comoso.com...
  • Page 246 0 to 6000 times ZSPD signal is output when the current speed is smaller than the set value. 0x2405 TGON Output Range Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format P Series User Guide www.comoso.com...
  • Page 247 0 to 1000 Resupply Set the stopper detection time when homing using stopper. Please set the appropriate value for the machine. 0x240B Modulo Mode Variable Default Access Change Stor Setting Range Unit Format Value ibility Allocatio Property P Series User Guide www.comoso.com...
  • Page 248 Select whether to store the parameters individually. This parameter is not stored, and goes back to 0 when the power is turned on. Set Value Setting Details Do not individually store parameters. See parameter store 0x1010) for parameters storing. Individually store parameters. Parameters are automatically stored. P Series User Guide www.comoso.com...
  • Page 249 Set notch filter 1 depth. 0x2504 Notch Filter 2 Frequency Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 50 to 5000 5000 Servo Off 0x2505 Notch Filter 2 Width P Series User Guide www.comoso.com...
  • Page 250 Allocati Value sibility Property Format UINT 1 to 100 Servo Off 0x250C Notch Filter 4 Depth Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 1 to 5 Servo Off P Series User Guide www.comoso.com...
  • Page 251 Property Format UINT 0 to 1 Servo Off Set the movement direction for off line gain tuning. Please use the appropriate setting that fits the mechanical unit. Set Value Setting Details Forward operation Reverse operation P Series User Guide www.comoso.com...
  • Page 252 Servo Off Reserved 0x2516 Vibration Suppression Filter 1 Frequency Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 0 to 2000 0.1Hz Servo Off Reserved 0x2517 Vibration Suppression Filter 1 Damping P Series User Guide www.comoso.com...
  • Page 253 Stor Setting Range Unit Allocati Value sibility Property Format DINT pulse Shows position error for position control. 0x2603 Accumulated Operation Overload Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format 0.1% P Series User Guide www.comoso.com...
  • Page 254 The motor’s single turn data is represented within the 0.0~359.9range. 0x2609 Electrical Angle Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format 0.1deg Show the motor’s electrical angle within the range of -180.0~180.0. P Series User Guide www.comoso.com...
  • Page 255 Show the rated speed of the drive motor. 0x260F Motor Maximum Speed Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT Show the drive’s maximum speed. 0x2610 Drive Rated Current P Series User Guide www.comoso.com...
  • Page 256 Setting Range Unit Allocati Value sibility Property Format STRIN Show the drive’s boot loader version. 0x2614 Warning Code Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT Show the warning code. P Series User Guide www.comoso.com...
  • Page 257 Shows the analog torque input voltage by mV. 0x2616 Analog Input Channel 2 Value Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format Shows the analog speed override input voltage by mV. P Series User Guide www.comoso.com...
  • Page 258 Adjust phase current offset Phase current offset (U/V/W phase offset are stored in device. 0x2015~0x2017, respectively. AL-15 sets (0x0008) off when the offset is abnormally large) Software Reset Software reset (0x0009) Commutation Perform commutation (0x000A) P Series User Guide www.comoso.com...
  • Page 259 Format STRIN SubIndex 6 Alarm Code 6 Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format STRIN SubIndex 7 Alarm Code 7 Variabl Setting Range Default Unit Acces Change Stor P Series User Guide www.comoso.com...
  • Page 260 Stor Setting Range Unit Allocati Value sibility Property Format STRIN SubIndex 15 Alarm Code 15 Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format STRIN SubIndex 16 Alarm Code 16(the oldest) P Series User Guide www.comoso.com...
  • Page 261 Stor Setting Range Unit Allocati Value sibility Property Format FP32 2.89 Arms Sets the motor’s rated current. 0x2803 [Third Party Motor]Maximum Current Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format P Series User Guide www.comoso.com...
  • Page 262 Set the motor’s torque constant. The force constant is set for linear motors. The unit is N/A. 0x2808 [Third Party Motor] Phase Resistance Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format FP32 0.82 Set the motor’s phase resistance (=linear resistance÷2) P Series User Guide www.comoso.com...
  • Page 263 Setting Range Unit Allocati Value sibility Property Format FP32 100.0 Set the motor’s speed/torque curve data. The torque which can be output at the maximum speed is input in percentage based on the maximum torque. P Series User Guide www.comoso.com...

  • Page 264: Index Objects

    Pulse input position operation mode & Velocity operation mode Pulse input position operation mode & Torque operation mode Velocity operation mode & Torque operation mode Index position operation mode & Velocity operation mode Index position operation mode & Torque operation mode P Series User Guide www.comoso.com...
  • Page 265 PHASE A + PHASE B Negative Logic CW + CCW Negative Logic Pulse + Sign Negative Logic 0x3004 Pulse Input Filter Select Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UINT 0 to 4 Servo Off P Series User Guide www.comoso.com...
  • Page 266 0 to 1 Resupply Determine whether to use the open collector method other than the line drive method, when outputting encoder signals from the servo. Set Value Setting Details Line drive Only Line drive+ open collector P Series User Guide www.comoso.com...
  • Page 267 Property DINT 1 to 2147483647 1000000 UU/s At all times SubIndex 5 Deceleration Variable Default Accessib Change Setting Range Unit Store Format Value ility Allocation Property DINT 1 to 2147483647 1000000 UU/s At all times P Series User Guide www.comoso.com...
  • Page 268 Slowly decelerates then stop, depending on the quick stop deceleration (0x6085) setting. (Switch On Disabled) Slowly decelerates then stop, depending on the quick stop deceleration (0x6085) setting. (Switch On Disabled) (Switch On Disabled) Stops at the torque limit (Switch On Disabled) P Series User Guide www.comoso.com...
  • Page 269 Halt option code sets the movement method when moving from operation enable state to switched on state. Set Value Descriptions Deceleration and stop, Operation Enabled Deceleration and stop with quick stop deceleration, Operation Enabled Deceleration and stop with torque limit torque, Operation Enabled P Series User Guide www.comoso.com...
  • Page 270 Stor Setting Range Unit Allocati Value sibility Property Format SINT Set the operation mode of the drive. 0x6062 Position Demand Value Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format DINT P Series User Guide www.comoso.com...
  • Page 271 Set the over time for checking the following error. (Status word, 0x6041.13). 0x6067 Position Window Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format At all UDINT 0 to 0x3FFFFFFF times P Series User Guide www.comoso.com...
  • Page 272 Bit10(0x6041.10) to 1. 0x606E Speed Window Time Variabl Default Acces Change Stor Setting Range Unit Value sibility Allocati Property P Series User Guide www.comoso.com...
  • Page 273 Property Format 0.1% Show the actual torque generated within the drive by 0.1% of the rated motor torque. 0x607C Home Offset Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format P Series User Guide www.comoso.com...
  • Page 274 Unit Allocati Value sibility Property Format At all UDINT 0 to 0x7FFFFFF 2000 UU/s times Sets deceleration used for quick stop when the Quick stop option code (0x605A) is set to 2. 0x6091 Gear Ratio P Series User Guide www.comoso.com...
  • Page 275 SubIndex 1 Speed during search for switch Variable Default Accessib Change Setting Range Unit Store Format Value ility Allocation Property DINT 0 to 0x40000000 500000 UU/s At all times SubIndex 2 Speed during search for zero P Series User Guide www.comoso.com...
  • Page 276 At all UINT 0 to 0xFFFF 0x0033 times Sets touch probe functions. value Descriptions Do not use touch probe 1 Use touch probe 1 Single trigger mode Continuous trigger mode Trigger by touch probe 1 input P Series User Guide www.comoso.com...

  • Page 277: Table 108. Touch Probe Functions

    Use touch probe 2 Positive edge position value of touch probe 2 is not stored Positive edge position value of touch probe 2 is stored Negative edge position value of touch probe 2 is not stored P Series User Guide www.comoso.com...

  • Page 278: Table 109. Touch Probe Status

    Shows positive edge value of touch probe 2. 0x60BD Touch Probe 2 Negative Edge Position Value Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format DINT Shows negative edge value of touch probe 2. P Series User Guide www.comoso.com...
  • Page 279 Shows the command input value for position control. 0x60FD Digital Inputs Variabl Default Acces Change Stor Setting Range Unit Allocati Value sibility Property Format UDINT Show digital input status. Descriptions NOT(negative limit switch) POT(positive limit switch) P Series User Guide www.comoso.com...

  • Page 280: Table 110. Digital Input Status

    Forced output of DO#1(I/O pin 35, 36) (0:OFF, 1:ON) Provided that the relevant bit mask (0x60FE:02.16) is set to Forced output of DO#1(I/O pin 37, 38) (0:OFF, 1:ON) Provided that the relevant bit mask (0x60FE:02.17) is set to P Series User Guide www.comoso.com...

  • Page 281: Table 111. Physical Output Descriptions

    DO#2(I/O pin 45, 46) output status setting (0:Disable, 1:Enable) DO #3(I/O pin 47, 48)output status setting (0:Disable, 1:Enable) DO #4(I/O pin 49, 50)output status setting (0:Disable, 1:Enable) 24 to 31 Reserved Table 112. Bit Mask Descriptions P Series User Guide www.comoso.com...

  • Page 282: Table 113. Supported Modes

    IP (Interpolated Position) 0: Not Supported CSP (Cyclic Synchronous Position) 0: Not supported CSV (Cyclic Synchronous Speed) 0: Not supported CST (Cyclic Synchronous Torque) 0: Not supported 10 to 31 Reserved Table 113. Supported Modes P Series User Guide www.comoso.com...

  • Page 283: Pm Motors

    Parker Hannifin 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 Curves P Series User Guide www.comoso.com...

  • Page 284: Specification

    Available Moment of Load Inertia Motor Inertia x 20 Position Feedback BiSS Interface – 19bit Weight 0.7kg 0.9kg 1.3kg Standards 0 - 40 ˚ C Temperature Humidity 20-80% non-condensing Shock / Vibration 5G (49m/s Table 115. PM-FBL Series Features P Series User Guide www.comoso.com...

  • Page 285: Table 116. Pm-Fclxxamxx Series Features

    Motor Inertia x 15 Position Feedback BiSS Interface – 19bit Weight 1.6kg 2.2kg 2.7kg 3.8kg Standards 0 - 40 ˚ C Temperature Humidity 20-80% non-condensing Shock / Vibration 5G (49m/s Table 117. PM-FCLxxDMxx Series Features P Series User Guide www.comoso.com...

  • Page 286: Table 118. Pm-Fexxamxx Series Features

    Available Moment of Load Inertia Motor Inertia x 10 Position Feedback BiSS Interface – 19bit Weight 5.0kg 6.7kg 8.5kg 10.1kg Standards 0 - 40 ˚ C Temperature Humidity 20-80% non-condensing Shock / Vibration 5G (49m/s P Series User Guide www.comoso.com...

  • Page 287: Table 119. Pm-Fexxdmxx Series Features

    5.77 10.39 14.92 19.43 gf-cm-s Available Moment of Load Inertia Motor Inertia x 10 Position Feedback BiSS Interface – 19bit Weight 5.0kg 6.7kg 8.5kg 10.1kg Standards 0 - 40 ˚ C Temperature Humidity 20-80% non-condensing P Series User Guide www.comoso.com...

  • Page 288: Table 121. Pm-Fexxmmxx Series Features

    28.53 47.51 28.53 47.51 gf-cm-s Available Moment of Load Inertia Motor Inertia x 5 Position Feedback BiSS Interface – 19bit Weight 12.5kg 17.4kg 12.5kg 17.4kg Standards 0 - 40 ˚ C Temperature Humidity 20-80% non-condensing P Series User Guide www.comoso.com...

  • Page 289: Fal Series N-T Curves

    Parker Hannifin Shock / Vibration 5G (49m/s Table 123. PM-FFxxDM/GMxx Series Features 10.2 FAL Series N-T Curves P Series User Guide www.comoso.com...

  • Page 290: Fbl Series N-T Curves

    Parker Hannifin Figure 58. FAL Series N-T Curves 10.3 FBL Series N-T Curves P Series User Guide www.comoso.com...

  • Page 291: Fcl Series N-T Curves

    Parker Hannifin Figure 59. FBL Series N-T Curves 10.4 FCL Series N-T Curves P Series User Guide www.comoso.com...
  • Page 292 Parker Hannifin P Series User Guide www.comoso.com...

  • Page 293: Figure 60. Fcl Series N-T Curves

    Parker Hannifin Figure 60. FCL Series N-T Curves P Series User Guide www.comoso.com...

  • Page 294: Fe Series N-T Curves

    Parker Hannifin 10.5 FE Series N-T Curves P Series User Guide www.comoso.com...
  • Page 295 Parker Hannifin P Series User Guide www.comoso.com...
  • Page 296 Parker Hannifin P Series User Guide www.comoso.com...
  • Page 297 Parker Hannifin P Series User Guide www.comoso.com...
  • Page 298 Parker Hannifin P Series User Guide www.comoso.com...

  • Page 299: Ff Series N-T Curves

    Parker Hannifin Figure 61. FE Series N-T Curves 10.6 FF Series N-T Curves P Series User Guide www.comoso.com...
  • Page 300 Parker Hannifin P Series User Guide www.comoso.com...

  • Page 301: Figure 62. Ff Series N-T Curves

    Parker Hannifin Figure 62. FF Series N-T Curves P Series User Guide www.comoso.com...

  • Page 302: Troubleshooting

    Parker Hannifin 11. Troubleshooting IN THIS CHAPTER 11.1 Troubleshooting Guidelines 11.2 Servo Alarm and Check List 11.3 Servo Warning and Check List P Series User Guide www.comoso.com...

  • Page 303: Troubleshooting Guidelines

    50 [℃] temperature Accumulated operate overload Change drive and motor Continuous IPM temperature percentage [0x2603] Checking capacity, Overload the load percentage is under alarm Please tune gain. 100% Motor cable Check accumulated Adjust regeneration resistor P Series User Guide www.comoso.com...
  • Page 304 Drive error is much different with Replace the drive surrounding temperature when it is normal condition. Checking overload rate Capacity Adjust value on 0x2009. Use accumulated regeneration on excess by braking resistor Regeneration 0x2606 high P Series User Guide www.comoso.com...
  • Page 305 So Kindly recommend you to change the servo motor. If alarm continue after servo on Encoder again, Replace drive. Because Encoder data error drive may have problem. Drive error If alarm continue after servo on P Series User Guide www.comoso.com...
  • Page 306 Encoder Wiring is incorrect and check Encoder setting Replace encoder cable. cable error Short error If alarm continue after servo on Encoder again, Replace drive. Because error drive may have problem. P Series User Guide www.comoso.com...
  • Page 307 Over speed limit Encoder Wiring is incorrect and check Replace encoder cable. cable error Short. Parameter Value of [0x2000], [0x2001], Modify the parameter as same setting error [0x2002] is same with as motor label information. P Series User Guide www.comoso.com...
  • Page 308 So Parameter variable form set up parameter before checksum operating If alarm continue after servo on Drive error again, Replace drive. Because drive may have problem. P Series User Guide www.comoso.com...

  • Page 309: Servo Warning And Check List

    Excessive DB current DB current exceeding the fault level was output OV_DB_CUR Operation overload Accumulated operation overload ratio reached the warning level (0x2010). Check for equipment clash or arrest OV_LOAD Check load status, brake action, drive P Series User Guide www.comoso.com...

  • Page 310: Table 125. Servo Warning Check List

    190V when the action in case of main power fail is set to warning in the main UD_VTG power input mode setting (0x2006). Emergency signal input Check emergency stop contact signal, external 24V power Table 125. Servo Warning Check List P Series User Guide www.comoso.com...

  • Page 311: Appendix A Firmware Update

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

  • Page 312: Using Usb Otg

    USB cable and the USB. L/A 0 L/A 1 (7-Segment display for firmware update using OTG cable) Turn on the power again, and then check if the firmware update is applied. P Series User Guide www.comoso.com...

  • Page 313: Using Drive Support Tool

    Do not turn off the PC or drive during transmission. Do not unplug the USB cable or close the firmware program during transmission. Do not run other PC applications during transmission.  OS Download Action A. Click the ‘Open Firmware Downloader’ button. P Series User Guide www.comoso.com...
  • Page 314 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. P Series User Guide www.comoso.com...
  • Page 315 G. ‘Transmission completed’ window pops up when the transmission is properly competed (after transmission, turn off and on the drive to reboot it.)  When an error occurs during transmission P Series User Guide www.comoso.com...
  • Page 316 Parker Hannifin Turn off and on the drive, and then repeat through (2) to (7). P Series User Guide www.comoso.com...

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