Parker TPDM User Manual
  1. Manuals
  2. Brands
  3. Parker Manuals
  4. Media Converter
  5. TPDM
  6. User manual

Parker TPDM User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

TPDM
User's
manual
Rev. 0.7
September 2012

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the TPDM and is the answer not in the manual?

Questions and answers

Related Manuals for Parker TPDM

Summary of Contents for Parker TPDM

  • Page 1 TPDM User’s manual Rev. 0.7 September 2012...
  • Page 2 This user manual is for the standard version of the converter. All information in this user manual, including methods, techniques and concepts described herein, are proprietary information of Parker Hannifin Manufacturing Srl and of its licensees, and they shall not be copied or used without express authorization.

  • Page 3: Table Of Contents

    Mounting instructions......................22 Connectors layout ......................23 Connectors .......................... 24 4.5.1 TPDM single axis......................... 25 4.5.2 TPDM two axes (A+B) ......................26 4.5.3 TPDM three axes (A+B+C) ....................27 Cable lengths and cross sections ..................28 Protective Earth connections .................... 29 Requirements for UL Compliance..................
  • Page 4 Parker Hannifin Manufacturing Srl user’s manual TPDM Requirements for CSA Compliance ................. 30 4.10 Motor connection diagrams ....................31 4.11 Resolver connection diagrams ..................31 4.12 Signal cables connection ....................32 4.13 Encoder connection ......................32 4.14 Sinusoidal Encoder ......................32 4.15...
  • Page 5 Parker Hannifin Manufacturing Srl user’s manual TPDM Position control ........................78 Torque control (operating mode 1) .................. 81 Digital Lock + Positioner (operating mode 13) ............... 82 9.3.1 TAB0: profiles in memory ....................82 Electronic cam (operating mode 14) ................. 86 9.4.1 Positioning ...........................
  • Page 6 Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.4 Homing mode (operative mode 200) ................148 12.1.5 General information ....................... 148 12.1.5.1 Input data description ....................148 12.1.5.2 Output data description ....................149 12.1.5.3 Internal states ......................149 12.1.5.3.1 Controlword of homing mode ................149 12.1.5.3.2...
  • Page 7 APPENDIX B: SOFTWARE TIMING ..............177 APPENDIX C: DEFAULT PROGRAM FOR PICO-PLC ........178 APPENDIX D: FLASH INFORMATION .............. 179 APPENDIX E: SWITCHING FREQUENCY ............180 APPENDIX F: TPDM ALARMS ................181 18.1 SUB Alarms table: ......................182 APPENDIX G: SHIELD FASTENER ..............184 APPENDIX H: ETHERCAT OPTION ..............

  • Page 8: Safety Instructions

    (ratings). In case of doubt contact the Parker Hannifin service centre. • Drives are to be intended as components for use in machine or systems. Therefore they can be used only in machine or systems that are in compliance with the low voltage directive and with the electro-magnetic compatibility directive.

  • Page 9: Safety Instructions For Transportation And Storage

    Parker Hannifin Manufacturing Srl user’s manual TPDM 1.3 Safety instructions for transportation and storage • The ambient conditions given in the product documentation must be observed for transportation and storage (temperature, humidity, mechanical stress and aggressive atmosphere). • Drives contain components sensitive to electrostatic charges which can be damaged by inappropriate handling.

  • Page 10: Safety Instructions For Operation

    Parker Hannifin Manufacturing Srl user’s manual TPDM 1.5 Safety instructions for operation High voltage! Risk of electric shock! Danger of life! • All live parts must be protected against direct contact. The drive must be closed inside a cabinet before switching it on.

  • Page 11: Safety Instructions For Maintenance

    • It is extremely dangerous to remove covers or part of the external enclosure from the equipment. Risk of personal injury. The warranty immediately decays. • In case of malfunction consult the alarm list described in the user manual or address Parker Hannifin. The drives are not field repairable.

  • Page 12: Applicable Standards

    The warranty duration is 1 (one) year. The converter must not be opened, accessed or modified in any of its part. Any attempt to do so would cause the 1-year warranty to be cancelled with immediate effect. Parker Hannifin declines any responsibility for damages that may be caused by inappropriate use of the converter.

  • Page 13: Introduction

    Parker Hannifin Manufacturing Srl user’s manual TPDM 2 INTRODUCTION 2.1 General information This manual describes the installation and commissioning of the frequency converter TPD for brushless motors. Read carefully all the sections. 2.2 Product description The TPD is a digital frequency converter for brushless motors and asynchronous motors (with or without feedback).

  • Page 14: Identification

    Model Nominal plate data It is important to refer to this label before requesting any kind of technical information to Parker Hannifin Manufacturing Srl (*) on the internal side of the protective cover, there is a label that shows the Model and the Serial Number.
  • Page 15 Parker Hannifin Manufacturing Srl user’s manual TPDM An example of this label is given below. Serial number Model Output voltage Input voltage Output current Output frequency Input current The performance of converter is guaranteed only with synchronous motors with permanent magnets...

  • Page 16: Main Hardware Features

    Parker Hannifin Manufacturing Srl user’s manual TPDM 3 Main hardware features 3.1 Ambient conditions operation (*) Class 3K3, 0 … +40 °C (+32 …+104 °F) temperature storage Class 1K4, -25 … +55 °C (-4 …+131 °F) transportation Class 2K3, -25 … +70 °C (-13…+158 °F)

  • Page 17: Power Supply

    Parker Hannifin Manufacturing Srl user’s manual TPDM 3.4 Power supply Control stage 1 axis Modules 2 axes 3 axes 5 10 15 30 Supply voltage 24V (±10%) Max ripple Do not go over the range pkpk Current 1 1,5 Control electronics dissipation...

  • Page 18: Other Characteristics

    Parker Hannifin Manufacturing Srl user’s manual TPDM 3.6 Other characteristics auxiliary encoder(1 per module) Auxiliary encoder input in quadrature Max frequency encoder input 2000 RS-422 encoder simulation output steps/rev …2 Max frequency 2000 4 digital inputs input impedance 20 ± 5% kΩ...

  • Page 19: Main Software Features

    Parker Hannifin Manufacturing Srl user’s manual TPDM 3.7 Main software features The following functions have been implemented in the basic software: Speed controller Advanced manager of torque limits Management of speed windows Torque motor control Torque control with speed control overlaying...

  • Page 20: Mounting

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4 MOUNTING • The converter must be mounted vertically with the power block • A space of at least 100 mm. must be left free above and beneath the converter. 4.1 How to suppress interference In order to meet the product requirements regarding electromagnetic compatibility, the installation must be carried out according to the following instructions.

  • Page 21: Cable Connections And Shielding

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.1.2 Cable connections and shielding With the exception of mains cables to the filter, all power and control cables must be shielded and, wherever possible, kept segregated (minimum distance 20 cm). If control and power cables must cross, the intersection must be at a right angle.

  • Page 22: Dimensions And Weights

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.2 Dimensions and weights 50,5mm 263mm 90° 400mm 360mm 46mm 50mm Dimensions Lenght Height Depht (*) Size [mm] [mm] [mm] (410**) (*)without connectors (**)with clamps TPDM Weight Size 1 axis 2 axis 3 axis...

  • Page 23: Mounting Instructions

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.3 Mounting instructions IMPORTANT Do not install in hazardous environments. Fasten the drive in the cabinet using the reamed holes on the mounting plate (see illustration). Size 2 Size 1 Measurements expressed in mm. Tolerance ±1.5 mm.

  • Page 24: Connectors Layout

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.4 Connectors layout Serial link Opt. Board (field SD card BUS or I/O) CAN1 and CAN2 I/O and safety Feedback and AUX encoder Display Protective cover Power input (DC-BUS and 24V) Motor connection...

  • Page 25: Connectors

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.5 Connectors DB9 poles male Mechanical brake Motor connection A, B, C X11 CANbus CAN1 L (OUT) +brk C U motor C CAN1 L (IN) -brk C V motor C +brk B W motor C...

  • Page 26: Tpdm Single Axis

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.5.1 TPDM single axis I/O Terminal block X13 (Axis A) 18 Analog OUTput 17 IN- analog reference 16 IN+ analog reference 15 Digital OUTput 1 14 Digital OUTput 0 13 Digital input 3 - b90.3 12 Digital input 2 - b90.2...

  • Page 27: Tpdm Two Axes (A+B)

    20 Digital input – (b90.9 if b230.1=1) 0V Digital OUT supply 19 Digital input – (b90.8 if b230.1=1) (*) if the bit b230.1=1,this input is not common to each axis (only TPDM multi axis): Digital input 3 - b90.7 Digital input 2 - b90.6 Digital input 1 - b90.5...

  • Page 28: Tpdm Three Axes (A+B+C)

    20 Digital input 1 - b90.1 (**) 0V Digital OUT supply 19 Digital input 0 - b90.0 (**) (*) if the bit b230.1=1,this input is not common to each axis (only TPDM multi axis): Digital input 3 - b90.7 Digital input 2 - b90.6 Digital input 1 - b90.5...

  • Page 29: Cable Lengths And Cross Sections

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.6 Cable lengths and cross sections Choose a cable for flexible or static installation depending on the application. See the table below for cable sections: Model UL Compliance AWG10 AWG10 AWG10 AWG8 CE Compliance Motor + 4,42 ÷...

  • Page 30: Protective Earth Connections

    (Protective Earth Connections), in accordance with the NEC NFPA 70. The TPDM provides Motor Functional Earth connection only. Two supply protective earth connections are required for Europe one located on the PSUP and the other located on the TPDM.

  • Page 31: Requirements For Csa Compliance

    To CSA compliance, remove the EARTH bar when it’s present (see the following picture). 24Vdc 0Vdc - DCbus Earth + DCbus Caution! Risk of Electric Shock. Discharge time of the bus capacitor is approx. 10 minutes. Connect the protective earth using the dedicated “screw” for each module of TPDM: TPDM...

  • Page 32: Motor Connection Diagrams

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.10 Motor connection diagrams MIL motor connector 4.11 Resolver connection diagrams MIL resolver connector...

  • Page 33: Signal Cables Connection

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.12 Signal cables connection The cable used for the analogue reference must be a shielded twisted pair. The cable used to connect the signals of the simulated encoder must consist of three twisted pairs with a general shield.

  • Page 34: Sinusoidal Encoder + Endat

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.15 Sinusoidal Encoder + EnDat It’s possible to use a Heidenhain cable or one with the same features. The cable must not be longer than 20 metres.

  • Page 35: Sinusoidal Encoder + Hiperface

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.16 Sinusoidal Encoder + Hiperface N.B.: the drive requires that the sin+ and sin- signals must be inverted, as shown above.

  • Page 36: Sinusoidal Encoder +Hall Sensor

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.17 Sinusoidal Encoder +Hall sensor...

  • Page 37: Sincos (One Sin Wave Per Pole Pitch)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.18 SinCos (one sin wave per pole pitch) Only with PowerROD motor, on drive side, connect pin 4 with pin 2, and pin 1 with pin 15.

  • Page 38: Dsl Feedback

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.19 DSL feedback...

  • Page 39: Analog And Digital I/Os Connections

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.20 Analog and digital I/Os connections...

  • Page 40: Frequency Input/Output Connection

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.21 Frequency input/output connection The drive has the possibility to “read” the input Encoder IN type. The input can receive signals in quadrature and frequency/sign, (b42.5), from an incremental encoder to 5 Volt-DC as from standard LineDrive-RS422.

  • Page 41: Connecting The Drive To The Digital-Lock

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.22 Connecting the drive to the digital-lock In the example given above, is shown the connection of two drives to the Digital-Lock with a master, but the diagram could be extended to several converters respecting the series connection. The line charge resistors must be connected to the last converter.

  • Page 42: Layout

    Parker Hannifin Manufacturing Srl user’s manual TPDM 4.24 Layout...

  • Page 43: Using The Keyboard

    Parker Hannifin Manufacturing Srl user’s manual TPDM 5 Using the keyboard The keyboard-display module is easy to use. It is used to program the functional data, control the status of the converter and send commands. It consists of only three keys located directly beneath the display.
  • Page 44 Parker Hannifin Manufacturing Srl user’s manual TPDM status LoAd Pr... dOnE b39.x Pb... In... PLC inst oper. oper. oper. Pico-PLC SD card (b99.6=1) Hold M pressed for 2 sec. while the name of a parameter (PRxx) is displayed to make the keypad control switch to a different axis;...

  • Page 45: Sd Card Management

    (*) without the SD card, the function menu is not available. The SD card menu is after the pico-PLC instructions and before of parameters. (**) reserved. This file is necessary to enable the upgrade of the firmware. Parker Hannifin Manufacturing Srl reserves the right to grant the activation file.
  • Page 46 Parker Hannifin Manufacturing Srl user’s manual TPDM In.xxx Format Protect SD card detect FORMAT directory /PAr detect Delete file DELETE File... detect File menu File...

  • Page 47: Alarm Codes

    Parker Hannifin Manufacturing Srl user’s manual TPDM Save file on SD Axis selected SAVE SAVE /par/Pnnn.slv /par/APnnn.slv From MEM From MEM Load file from SD detect Select file Axis selected Restart the TPDM module File... To save the file into the axis, set bit Pr..

  • Page 48: Start-Up

    Parker Hannifin Manufacturing Srl user’s manual TPDM 6 START-UP In Its basic configuration the drive can control both synchronous permanent magnet motors (brushless) and asynchronous induction motors, with or without feedback. The setting of Pr217 can select either of the following: Pr217=0 synchronous motor (default setting).

  • Page 49: Changing Motor Data

    The type of feedback is equal for each axis. Note: in case of TPDM multiaxis, the feedback type must be equal per each axis. 6.4.1 Select supply feedback The supply of feedback is between –ECC and +ECC pins.

  • Page 50: Feedback Configuration

    After to have saved the configuration, the activation of the selected feedback happens to the successive start-up of the drive. Note: in case of TPDM multiaxis, the feedback type must be equal per each axis.

  • Page 51: Feedback From Incremental Encoder

    Parker Hannifin Manufacturing Srl user’s manual TPDM 6.5 Feedback from incremental encoder In place of the resolver it is possible to use an incremental encoder (must be expressly requested when placing your order). When the feedback is incremental encoder see par. “setting feedback”.

  • Page 52: Type 2 Phasing

    Parker Hannifin Manufacturing Srl user’s manual TPDM 6.6.2 Type 2 phasing b94.4 actives this procedure. The parameters are shown in the table below: Type/ Par. Description Field/Unit Notes Pr196 To insert number of the step to turn encoder ±32767 1024 b94.4...

  • Page 53: Phasing Procedure For Encoder With Endat, Hiperface Or Dsl Digital Interface

    6.6.3 Phasing procedure for encoder with EnDat, Hiperface or DSL digital interface The procedure of encoder phasing is not necessary with Parker Hannifin Manufacturing’s motor, but when the system requires the phasing, the procedure 1 and 2 of the phasing is the same for incremental encoder (see paragraph “Encoder phasing”) and it must finalized as follows.

  • Page 54: First Commissioning

    Parker Hannifin Manufacturing Srl user’s manual TPDM 6.7 First commissioning The steps to be followed carefully the first time the converter is used are given below. supply the drive with only 24V and insert the motor and feedback data, save (b99.15) and put off the device.

  • Page 55: Speed Control Adjustment

    Parker Hannifin Manufacturing Srl user’s manual TPDM 6.8 Speed control adjustment SOME IMPORTANT CONCEPTS SPEED LOOP: The main task of a converter is to control motor speed so that it follows as faithfully as possible the speed request that is generally known as the REFERENCE.
  • Page 56 Parker Hannifin Manufacturing Srl user’s manual TPDM BEFORE BEGINNING Study the diagram below carefully (Fig. 1): Fig. 1 This diagram shows the response of the system to a square wave speed reference. Channel 1 (Ch1) represents the speed and channel 2 (Ch2) the current of the motor. The two traces cannot be seen at the same time, but the trace to be displayed can be programmed using the binary parameter b42.4.
  • Page 57 Parker Hannifin Manufacturing Srl user’s manual TPDM Fig.2 For increasing values of Pr17, the response of the system will be similar to what is shown in figure 3 below: Fig.3 The optimal value of Pr17 will be attained with a response of the system as shown in figure 4...
  • Page 58 Parker Hannifin Manufacturing Srl user’s manual TPDM Fig. 4 An overshoot of about 10% must be obtained. It is important that after the overshoot, an undershoot does not occur. Once the optimal value of Pr17 has been established, we must analyse the movement of the axis.
  • Page 59 If mechanical parts are used which very easily tend to enter into oscillation, we recommend you use very low values of Pr16. In this configuration the TPDM typically dampens the torque request of the motor in order to avoid triggering mechanical oscillations. This configuration is shown in figure...
  • Page 60 Parker Hannifin Manufacturing Srl user’s manual TPDM ADJUSTMENT WITHOUT USING INSTRUMENTATION If you do not have an oscilloscope, you must: A. Determine the value of Pr16 as described above. B. Determine the Pr17 parameter by using the following formula: ⋅...

  • Page 61: Analaog, Digital I/Os And S.t.o

    (**) the safe torque OFF in the terminal block common X12, is dedicated to the axes A, B and C when the TPDM model has 3 axes. When the TPDM model has 1 or 2 axes, the S.T.O., in X12, is dedicated to the axis A;...
  • Page 62 Parker Hannifin Manufacturing Srl user’s manual TPDM Input Input voltage Mode +Vcc PNP switch 0V dc DRIVER input ref. in Reference 3 – X12 digital IN +Vcc DRIVER ref. in input 24V dc NPN switch In the same X13-X14-X15 terminal blocks, there are 2 digital outputs per axiscombined with binary...

  • Page 63: Analog Inputs/Outputs

    Parker Hannifin Manufacturing Srl user’s manual TPDM 7.2 Analog inputs/outputs TPDM Axis Terminal pin Analog type Always 16-17 (1 axis, 2 axes, 3 axes) 34-35 2 axes, or 3 axes 25-26 3 axes 7.3 STO Through the STO the energy supply of the drive is interrupted, and the drive isn’t enabled to produce a torque;...

  • Page 64: Parameters And Programming

    Parker Hannifin Manufacturing Srl user’s manual TPDM 8 PARAMETERS AND PROGRAMMING The torque, speed, acceleration and position control functions are carried out by special digital electronics. In this section we explain how parameters are set and the meaning of each parameter. We also provide the functional block diagram and the description of advanced functions.
  • Page 65 Parker Hannifin Manufacturing Srl user’s manual TPDM Main parameters Pr0…Pr49, Pr151…Pr167, Pr188…Pr280 Position loop Pr50…Pr70 pico-PLC parameters Pr71…Pr99 Pr100…Pr150, Pr168…Pr187 Operating mode parameters pico-PLC parameters From Pr151 to Pr163 pico-PLC instructions From In0 to In255 The units of measurement and the main resolutions of the parameters are:...
  • Page 66 Parker Hannifin Manufacturing Srl user’s manual TPDM • Read/write of the PrX parameter Pr X A = value of the PrX parameter • Read/write of the PrX parameter Pr X B = value that depends on the values of A and PrX •...

  • Page 67: Main Parameters

    Parker Hannifin Manufacturing Srl user’s manual TPDM 8.1 Main parameters Legend: R: read; W: write; M: memory; K: key parameter. Type/ Par. Description Range Def. Note Pr 0 Motor speed: a read-only parameter expressed in rpm; the ± 9000 Pr0 message is not ever displayed on the screen. Instead, the [rpm] message indicating the status of the converter is displayed.
  • Page 68 Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Range Def. Note Pr 10 Acceleration ramp for negative speed: Negative speed 0.002÷ 0.002 acceleration required by the motor via the speed reference is 65.535 internally limited so that to achieve an acceleration of 1000 [s/krpm] rpm, Pr10 seconds are necessary.
  • Page 69 Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Range Def. Note Pr 24 Alarm sub code.. 0÷255 Pr 25 Software version code (read-only): Indicates the version 0÷255 of the software that has been installed. Pr 26 Serial line speed code: This is the code for programming 0÷9...
  • Page 70 Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Range Def. Note Pr 38 Acc. i t drive.I t of the module: accumulation of all axes. 0÷100.0 Unit = % of the peak current of the module. Pr 43 Zero encoder offset. This parameter is used to modify the 0÷4095...
  • Page 71 Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Range Def. Note Pr200 N. of turn for Multiturn encoder. In the case of encoder [turn] multiturn the parameter show the maximum turn of the device. Pr201 Encoder vibration step. (see section “encoder phasing”) Pr202 Encoder CAN address.

  • Page 72: Binary Parameters

    Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Range Def. Note Pr285 Torque offset. To compensate the weight force. The value ±2048 is referred to the peak current of the drive: 2048=100% of the drive peak current(see the par. “feed forward speed loop”)
  • Page 73 Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Def. Note b40.3 Reference hold: If = 1, the reference will not be updated and the motor will not follow the variations of the input reference. If = 0, the reference will follow the variation of the input reference.
  • Page 74 Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Def. Note b41.13 CAN1 bus warning. Indicates a momentary communication error on the CAN. b41.14 CAN1 bus off error. Indicates a permanent communication error on the CAN. b41.15 CAN1 bus watchdog. This bit is set to 1 at every sync (0 or 1) reception via CAN.
  • Page 75 Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Def. Note b99.6 Extended menu enable: If set to 1, the extended menu is enabled. Attention: this function is managed only by A axis for all axes. b99.7 Safety: If set to 1, parameters cannot be modified.
  • Page 76 Parker Hannifin Manufacturing Srl user’s manual TPDM Type/ Par. Description Def. Note b230.4 (1) pre alarm PSU rectifier load. b230.5 (1) pre alarm PSU temperature. b230.6 (1) disable RS485 auto addressing. b230.7 (1) disable CAN auto addressing. b230.8 (1) pre alarm module-temperature.
  • Page 77 Parker Hannifin Manufacturing Srl user’s manual TPDM...

  • Page 78: Operating Modes

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9 Operating modes Parameter Pr31 (default = 0) is used to select the operating mode. Every operating mode controls speed using parameter Pr6 and can use parameter PR21 to limit the torque at the motor (see the block diagram).

  • Page 79: Position Control

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.1 Position control All operating modes need to control the motor in position by using the position loop described in the block diagram shown in the figure below. Pr106 Reference speed Feedforward feedforward scale b70.7...
  • Page 80 Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description field/Unit Def. Type /Note Pr50 Maximum speed. This parameter limits the 0÷9000 3000 maximum speed of the motor. It can be useful to limit the speed during a sudden link or during a [rpm] quick change of speed.
  • Page 81 Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description Def. Type /Note b70.3 Output programmable on module (out1). b70.4 Servo error. b70.4 will be set to 1 if the position error as an absolute value exceeds the value set in Pr55.

  • Page 82: Torque Control (Operating Mode 1)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.2 Torque control (operating mode 1) This operating mode does not control the torque in the classic way since the speed control continues to work to control the speed limit. The torque reference will be the Pr7 main reference.

  • Page 83: Digital Lock + Positioner (Operating Mode 13)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.3 Digital Lock + Positioner (operating mode 13) Operating mode 13 includes the Digital Lock, dynamic positioner and flow speed functions in order to use them at the same time. The tracking function refers to the input frequency signal (X19 connector) set as an input encoder signal by setting b42.0 = 0 and b42.5 = 1.
  • Page 84 Parker Hannifin Manufacturing Srl user’s manual TPDM b231.10=1 TAB0 activation by profiles TAB0 point Positioner variables Pointer to table Pr193 Pr108 Speed Accel/Decel. ramp. Pr109 Pr107 Decel. Ramp (b231.13=1) Pr118 Final position Pr119 Pr108 Speed Pr109 Accel/Decel. ramp. Decel. Ramp (b231.13=1)
  • Page 85 Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description Field Range Def. Res. Pr109 Acceleration ramp (positioner). This is the 0.002÷ 1 ms acceleration ramp that will be used during the 30000 positioning profile. If b231.13=0, this parameter [s/Krpm] defines the acceleration and deceleration ramps of the position profile.
  • Page 86 Parker Hannifin Manufacturing Srl user’s manual TPDM OPM13...

  • Page 87: Electronic Cam (Operating Mode 14)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.4 Electronic cam (operating mode 14) Operating mode 14 is expressly designed to meet the needs of packaging machines that require electronic cams. This program is in the drive’s basic configuration and it can be programmed by selecting Pr31=14 and b99.11=1, parameters to select the operating mode and...

  • Page 88: Speed Mode

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.4.2 Speed mode It actives with Pr102=3 and the parameters are Pr100, speed, and Pr101, acceleration and deceleration ramp. 9.4.3 Electronic cam Four tables are available, namely TAB0, TAB1, TAB2 and TAB3, that have been implemented to perform a series of cam functions.
  • Page 89 Parker Hannifin Manufacturing Srl user’s manual TPDM rampa aggancio Pr102=9 Tab1 Engage ramp rampa sgancio Pr102=10 Tab2 Disengage ramp y=x-senx profilo triangolare Pr102=11 Tab3 Pr102=12 Triangular profile of speed function y=x-senx Pr102=14 CAM1 Adaptation module of CAM1 through Pr176:177 and Pr178:179 Pr102 can be setting through serial line, CAN or pico-PLC internal to the drive.
  • Page 90 Parker Hannifin Manufacturing Srl user’s manual TPDM b150.12 and b150.13 command the engage and the disengage in correspondence of the master phases written in Pr127:126 and in Pr 129:128, they are always referred to master module of CAM1. If adaptation module is used, the engage/disengage phase is always referred to master module.
  • Page 91 Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description Field Range Def. Res. Pr120:121 Master position. Pr122:123 Master axis phase. If b150.8 = 1 at the first positive 0÷2 front of digital input 0 or of the zero encoder input (see the block diagram), the position of the master axis become Pr122:123.
  • Page 92 Parker Hannifin Manufacturing Srl user’s manual TPDM Binary parameters Par. Description Field Def. b150.2 Position loop. If = 1 the position loop works on absolute positions, otherwise on slave axis module. b150.3 Master phase-shift command. If = 1, the positioner module is used to change the phase between the master and the slave or as the generator of the virtual axis.
  • Page 93 Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description Field Def. b180.6 Start Tab.2. Immediate activation of Tab2. Show table activate in CAM1 generator. b180.7 Start Tab.3. Immediate activation of Tab3. Show table activate in CAM1 generator. b180.14 (0)Caught quota master frequency input (1) Caught quota Motor N.a.
  • Page 94 Parker Hannifin Manufacturing Srl user’s manual TPDM OPM14...

  • Page 95: Opm 14 Linear Engage Cam

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.4.4 OPM 14 Linear engage CAM With OPM14 exists the possibility to program a linear engage cam on master module. It’s necessary to define the space to use of the module master in which executing the engage cam of the slave.
  • Page 96 Parker Hannifin Manufacturing Srl user’s manual TPDM Cam table engage automatic b150.12=1 (autoset after engage and autoreset after engage to the drive’s TAB) Master Module Pr110:111=30000 Step/Motor Slave Module Pr114:115 = 10000 Step/Motor space covered in engage from slave Pr137:136=1000 step slave module Reservation engage slave axis, on master module b150.11=1 (autoreset)

  • Page 97: Electronic Cam (Op. Mod. 11)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.5 Electronic cam (op. mod. 11) Operating mode 11 is expressly designed to meet the needs of packaging machines that require 2 electronic cams. This program is in the drive’s basic configuration and it can be programmed by selecting Pr31=14 and b99.11=1, parameters to select the operating mode and...

  • Page 98: Positioner

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.5.1 Positioner This is a trapezoidal profile generator, with the following user-definable parameters: • speed profile • acceleration and deceleration ramp • value target position in motor step The parameter referred to the target position is absolute. The difference between the target position and the reference position, generates the direction of the movement.
  • Page 99 Parker Hannifin Manufacturing Srl user’s manual TPDM Predetermined function Table y=x-senx Pr102=5 Pr102=6 Function y=x Function y=x-senx Tab0 profilo triangolare y=senx Pr102=7 Pr102=8 Function y=senx Triangular profile of speed rampa aggancio Pr102=9 Tab1 Engage ramp rampa sgancio Tab2 Pr102=10 Disengage ramp...
  • Page 100 Parker Hannifin Manufacturing Srl user’s manual TPDM CAM2 will be engaged and disengaged only by command and always when the master is in phase 0, or by a single execution command (Single Shoot). The b180.12, beyond signaling the state of engage/disengage of the CAM2, it allows an engage/disengage immediate of the same without to consider the master phase.
  • Page 101 Parker Hannifin Manufacturing Srl user’s manual TPDM Example 1 Speed profile axis slave without cam scale 3000 Scale CAM1: Profilo risultante 2500 Pr115:114=10000 module Pr177:176=00 start point 2000 Pr179:178=10000 execution space 1500 Scale CAM2: CAM1 1000 Pr185:184=10000 module Pr177:176=0 start point...

  • Page 102: Automatic Activation Of Cam Tables

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.5.2.1 Automatic activation of CAM tables Beside enabling tables on programmable master phase or by immediate command as shown above, the drive offers a default function providing for an automatic sequence to enable the tables in order to concur some functionalities like engage and disengage cam, with connection tables.
  • Page 103 Parker Hannifin Manufacturing Srl user’s manual TPDM b181.14 Disengage comand b181.13 Engage comand Pr105 Pr105 Sector Sector disengage engage ramp ramp Tab 3 Tab 1 Tab 0 Tab 2 Tab 3 360° 360° 360° 360° 0° Master module Master module...
  • Page 104 Parker Hannifin Manufacturing Srl user’s manual TPDM Decimal parameters Par. Description Field Range Def. Res. Pr101:100 Reference module position (addition as module ±2 of POS+CAM1+CAM2). Pr102 Function selector. The value indicates one 0÷14 predetermined function (see the predetermined function table). Once that the command has been given, the table comes generated with the selected function.
  • Page 105 Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description Field Range Def. Res. Pr129:128 Master axis disengage phase. If b150.13=1, 0÷2 when master position, Pr113:112 exceeds Pr129:128 Pr102 is brought in position 1 and b150.13 returns 0 to indicate that the positioner is enabled and which will control the disengage phase.
  • Page 106 Parker Hannifin Manufacturing Srl user’s manual TPDM Binary parameters. Par. Description Field Def. b150.2 Position loop. If =1 the position loop is absolute value, otherwise is in slave module. b150.3 Command phase shift master. If =1 positioner module comes used in order to modify the phase between master and slave or like generator of virtual axis.
  • Page 107 Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description Field Def. b180.10 Electronic CAM2 engaging on master phase 0. b180.11 Electronic CAM2 release on master phase 0. b180.12 CAM 2 engaging immediately (Signal lock/Unlock CAM 2). b180.13 Electronic CAM2 execution on single shot.
  • Page 108 Parker Hannifin Manufacturing Srl user’s manual TPDM Positioning OPM11 Speed Acceleration Pr108 Pr109 Target position Pr119:118 Master position Master axe b180.0 Reference position offset TAB0 module position Pr117:116 Master axe Master axe b180.4 Pr169:168 Pr101:100 b150.3 module position Master position...

  • Page 109: Basic Functions

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.6 Basic functions The standard drive functions include protection functions whose parameters can be set, such as automatic limitations of current delivered based on the estimated dissipation (thermal image or i t drive and motor); diagnostic functions, always available to the user, who can always check the drive status;...

  • Page 110: Speed Adjustment

    (see the technical data). Output signals (phase A, phase B) will simulate an encoder of Pr44 step / revolution, with phase C of zero not coupled to a reference zero. (*) on TPDM multi-axes, the encoder simulation is unique for all axes. The command b39.10 follows this: TPDM...

  • Page 111: Value Comparators

    Parker Hannifin Manufacturing Srl user’s manual TPDM b39.10= Axis A enabled Axis B enabled b39.10= Axis C enabled b39.10= 1 axis 2 axes 3 axes 9.6.5 Value comparators These functions are enabled ONLY with operating mode 11, 13 and 14. The Pr96:95 and Pr98:97 parameters have the alternative function of value comparators.

  • Page 112: Output Cam Programmer

    Parker Hannifin Manufacturing Srl user’s manual TPDM The event can be selected by the parameter Pr221 (only for b70.14). Description of the modes Pr221 Event selection (only for b70.14). The event is selected in according to the following table below:...

  • Page 113: Analogue Output Programmable

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.6.8 Analogue output programmable In terminal block is available one analogue output programmable. The parameter Pr188 defines the parameter to monitor. The analogue output scale has a range from –2047 to +2047 counts corresponding ±10V. By parameter Pr189 is possible to modify the scale: the value is the exponent of base 2.
  • Page 114 Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description Field Def. b231.2 Multiturn position read. (1) if multiturn absolute position is read at power up The range of absolute position depends of the encoder and it’s equal to: number turns ±...

  • Page 115: Feedforward Of Speed Loop

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.6.11 FeedForward of speed loop The feedforward into the speed loop is realized to offset the torque, like this during the acceleration the speed error is reduced to zero. Usage case: • when the system needs high accelerations without error;...

  • Page 116: Motor Brake Management

    Parker Hannifin Manufacturing Srl user’s manual TPDM 9.6.12 Motor brake management The new function “motor brake management” is available into the firmware Pr25=8 or greater and is activated by the bit b251.6. This function provides to supply the motor brake during the movement (b41.12=1) and it’s possible choose it by remote control or by standard mode: the bit b251.7permits to use the...
  • Page 117 Parker Hannifin Manufacturing Srl user’s manual TPDM...
  • Page 118 Parker Hannifin Manufacturing Srl user’s manual TPDM Follows a representation of management: Parameters: Par. Description field Def. Type Unit Note Pr252 Delay time to operational enable (brake opened).Using 1count= the DS402 protocol, in remote, this value is insert at the 6,144ms start-up of the drive into the object 0x2068.

  • Page 119: Encoder Can

    It is possible to have up to a maximum of three encoder signals, if the speed of the CAN is 1Mbs, and only one encoder signal if the speed is 500kbs. TPDM drive needs some bit and parameters about the correct operation: b70.8: enable the encoder CAN function, it activates at the successive switching on after save the setting of the bit.
  • Page 120 Parker Hannifin Manufacturing Srl user’s manual TPDM If the encoder CAN function is activated, the number of the free parameter decrease. See the next table. Par. Description Field Range Def. Res. Pr154 ratio numerator encoder in CAN ±32000 Pr155 ratio denominator encoder in CAN ±32000...

  • Page 121: Programming Digital Inputs/Outputs

    Parker Hannifin Manufacturing Srl user’s manual TPDM 10 Programming digital inputs/outputs 10.1 The pico-PLC The internal pico-PLC is used to connect the external world (inputs/outputs) with the world of the parameters of the drive. The PLC can be used to copy digital input to a binary parameter, to copy a binary parameter to a digital output and to execute mathematical and Boolean operations.
  • Page 122 Bit that can be stored.If the bit b230.1=0 this is a bit that can be stored by the user. Otherwise,Status of digital input 4 if the bit b230.1=1,this input is commonfor the axis enabled (only TPDM multi axis). b90.5 Bit that can be stored.If the bit b230.1=0 this is a bit that can be...
  • Page 123 Parker Hannifin Manufacturing Srl user’s manual TPDM b91.3 Reserved. b91.Y Available bit. I f Y is greater than 3 this is a bit that can be stored by the user. b94.0 Force a double word formatted operation. When the unit is powered on, this is 0.
  • Page 124 Parker Hannifin Manufacturing Srl user’s manual TPDM PLC INSTRUCTIONS Pa.y Pa.y loads the y bit of the Pa parameter on the stack Pa.y Pa,y loads the negated y bit of the Pa parameter on the stack Pa.y Pa,y sets the y bit of the Pa parameter to the value loaded on the stack Pa.y...
  • Page 125 Parker Hannifin Manufacturing Srl user’s manual TPDM FUNCTIONAL DESCRIPTION The Pico-PLC program is scanned every 6.144 milliseconds. Based on this sampling, the inputs are first read, then the two timers (Pr92, Pr93, b99.0 and b99.1) are updated, the user program is scanned and finally outputs are updated. For this reason, both input reading and output setting can vary by 6.144 ms with respect to the physical event.
  • Page 126 Parker Hannifin Manufacturing Srl user’s manual TPDM In the mathematical operations on double words, the operands and the result are defined as follows: the parameter of the operand defines the least significant part while the most significant part is represented by the next word.

  • Page 127: Programming With Motionwiz

    Parker Hannifin Manufacturing Srl user’s manual TPDM 10.2 Programming with MotionWiz The enclosed communication software (supplied free of charge) designated MotionWiz has the following HW/SW requirements: PII microprocessor or higher, Windows2000 or more recent version, mouse and serial port for drive connections. The main features of MotionWiz...

  • Page 128: Motionwiz

    Parker Hannifin Manufacturing Srl user’s manual TPDM 10.3 MotionWiz The configuration tool is called “MOTIONWIZ” and is used to program the drive while controlling the whole system in real time. PLC programs can also be edited and new files can be generated.

  • Page 129: Serial Interface

    Parker Hannifin Manufacturing Srl user’s manual TPDM 11 SERIAL INTERFACE The serial communication of the converter is half-duplex, master-slave. The same serial line can be connected to up to 32 axes, the configuration of the address is automatic, or by setting a different serial address in each to the Pr27 parameter. It is also...
  • Page 130 Parker Hannifin Manufacturing Srl user’s manual TPDM [BK+LUN] = the LUN field (first 3 bits) indicates the number of bytes of the data transmitted (a parameter or a PLC instruction); the values can range from 1 to 4. This value does not include eventual 0 characters ($00) which are inserted after the values that coincide with the character of transmission start ($7E).
  • Page 131 Parker Hannifin Manufacturing Srl user’s manual TPDM positions. The PAR address is that of the parameter (byte) where one or more bits are to be modified. If the parameter is a word and the bit to be modified is one of the first 8 (b0...b7): PAR = the parameter address;...
  • Page 132 Parker Hannifin Manufacturing Srl user’s manual TPDM Instruction Code Length (bytes) Pa.y Pa.y Pa.y OUTN Pa.y Pa.y ANDN Pa.y Pa.y Pa.y Pa, Pb, Pc Pa, Pb, Pc Pa, Pb, Pc Pa, Pb, Pc Pa.y Pa.y FIN b40.y/b150.y The first 4 bits (b0..b3) of the first byte in each instruction contain the instruction code.
  • Page 133 Parker Hannifin Manufacturing Srl user’s manual TPDM The converter responds with the message: [$7E][$20][$01][$32][$2B][$7E][$00] Second example: reading a 2 byte parameter Suppose we want to read the reference speed (Pr7) and that its value is 2000. Suppose also that the converter has the serial address 1. The message to be sent is the following:...

  • Page 134: Can Bus Interface

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12 CAN bus interface A CAN bus interface based on the physical layer ISO/DIS11898 is included on the converter. The Data link layer is the full CAN version 2.0 part A (ID 11 bit).

  • Page 135: Dictionary Object Summary Of Ds301 In Drive

    Parker Hannifin Manufacturing Srl user’s manual TPDM [0x6063] position feedback in counts [0x6064] position feedback in counts (normally in user unit in this case as well in counts) [0x2060] Word composed with digital input and aux analog input . b0: In0...

  • Page 136: Dictionary Object Summary Of Dsp402 In Drive

    Parker Hannifin Manufacturing Srl user’s manual TPDM [0x2003] : parameters'array 254..NR_PAR set bit access [0x2004] : parameters'array 0..254 reset bit access [0x2005] : parameters'array 254..NR_PAR reset bit access [0x2006] : pico-plc area first 254 instructions [0x2007] : pico-plc area last 2 instructions...
  • Page 137 Parker Hannifin Manufacturing Srl user’s manual TPDM [0x6061] 'Modes of operation display': see the previous. [0x6063] 'position actual value (counts)': If read by mean of SDO or mapped on PDO 1 or 2 returns the value of position feedback in counts from pr[63:62] if mapped on PDO 4 returns the value of the position feedback at the sync signal.
  • Page 138 [0x60c1][3] 'Interpolation data record': INTEGER32 interpolator velocity reference in RPM [0x60f4] 'Following error': this object shall provide the actual value of the following error. [0x6502] 'Supported drive modes': see 0x6060 [0x6504] 'Drive Manufacturer': " Parker Hannifin Manufacturing Srl " [0x6505] 'http drive catalog address': "*** http://www.sbcelettronica.com *** http://www.parker-eme.com ***"...
  • Page 139 Parker Hannifin Manufacturing Srl user’s manual TPDM Device Control state machine Homing mode Device Profile 402 Motor CAN node Profile Position mode Interpolated Position mode Here by the schematic of device control with controlword e statusword Control word (6040h) State machine...

  • Page 140: Object 6040H: Controlword

    Parker Hannifin Manufacturing Srl user’s manual TPDM Power disable Fault Fault reaction start active Not ready to Fault switch On Switch On disabled Ready to Switch On Power enable Switched On Operation enable Quick stop active If I t current clamping is active bit 11 of the statusword rises. If b272.10=1 and in remote mode, the command bit of the static brake is driven by the bit 15 of the controlword.
  • Page 141 Parker Hannifin Manufacturing Srl user’s manual TPDM INDEX 6040h Name Controlword Object Code VAR Data Type UNSIGNED16 Category Mandatory ENTRY DESCRIPTION Access PDO Mapping Possible Value Range UNSIGNED16 Default Value DATA DESCRIPTION The bits of the controlwordare defined as follows:...

  • Page 142: Object 6041H: Statusword

    Parker Hannifin Manufacturing Srl user’s manual TPDM BITS 4, 5, 6 AND 8: These bits are operation mode specific. The description is situated in the chapter of the special mode. The following table gives an overview: Operation mode Velocity mode...
  • Page 143 Parker Hannifin Manufacturing Srl user’s manual TPDM Description M /O Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Manufacturer specific Remote Target reached Internal limit active 12 - 13 Operation mode specific O 14 - 15 Manufacturer specific BITS 0 –...

  • Page 144: Object 605Bh: Shutdown Option Code

    Parker Hannifin Manufacturing Srl user’s manual TPDM BIT 8: This bit may be used by a drive manufacturer to implement any manufacturer specific functionality. BIT 9: REMOTE If bit 9 is set, then parameters may be modified via the CAN-network, and the drive executes the content of a command message.

  • Page 145: Object 605Ch: Disable Operation Option Code

    Parker Hannifin Manufacturing Srl user’s manual TPDM OBJECT DESCRIPTION INDEX 605Bh Name Shutdown option code Object Code Data Type INTEGER16 Category Optional ENTRY DESCRIPTION Access PDO Mapping No Value Range INTEGER16 Default Value DATA DESCRIPTION Value Description -32768 ... –1 manufacturer specific Disable drive function Slow down with slow down ramp;...

  • Page 146: Object 605Ah: Quick Stop Option Code

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.2.5 Object 605A : Quick stop option code The parameter quick stop option code determines what action should be taken if the Quick Stop Function is executed. OBJECT DESCRIPTION ENTRY DESCRIPTION INDEX 605Ah...

  • Page 147: Object 6060H: Modes Of Operation

    Parker Hannifin Manufacturing Srl user’s manual TPDM DATA DESCRIPTION Value Description -32768 ... -1 manufacturer Specific disable drive, motor is free to rotate slow down on slow down ramp slow down on quick stop ramp 12.1.2.7 Object 6060 : Modes of operation The parameter modes of operation switches the actually choosen operation mode.

  • Page 148: Functional Description

    Parker Hannifin Manufacturing Srl user’s manual TPDM OBJECT DESCRIPTION INDEX 6061h Name Modes of operation display Object Code VAR Data Type INTEGER8 Category Mandatory ENTRY DESCRIPTION Access PDO Mapping Possible Value Range INTEGER8 Default Value DATA DESCRIPTION Same as for object 6060 modes of operation.

  • Page 149: Homing Mode (Operative Mode 200)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.4 Homing mode (operative mode 200) In homing mode (Pr31=200) all the standard methods are available the index is referred to the feedback C encoder input track Z, it is also possible to refer the index to the absolute (in the shaft revolution) position of zero of the position feedback (resolver, SinCos absolute etc) setting the homing method to the same absolute value as for track Z indexing but negative .In...

  • Page 150: Output Data Description

    Parker Hannifin Manufacturing Srl user’s manual TPDM discretion in the use of these speeds as the response to the signals may be dependent upon the hardware used. 12.1.5.2 Output data description There is no output data except for those bits in the statusword which return the status or result of the homing process and the demand to the position control loops.

  • Page 151: Object Dictionary Entries

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.6 Object dictionary entries 12.1.6.1 Objects defined in this chapter Index Object Name Type Attr. M/O 607Ch VAR Home offset INTEGER32 6098h Homing method INTEGER8 6099h ARRAY Homing speeds UNSIGNED32 rw 609Ah VAR Homing acceleration UNSIGNED32 rw 12.1.6.2 Objects defined in other chapters...

  • Page 152: Object 6098H: Homing Method

    Parker Hannifin Manufacturing Srl user’s manual TPDM ENTRY DESCRIPTION Access PDO Mapping Possible Value Range INTEGER32 Default Value 12.1.7.2 Object 6098 : Homing method The homing method object determines the method that will be used during homing. OBJECT DESCRIPTION INDEX...

  • Page 153: Object 609Ah: Homing Acceleration

    Parker Hannifin Manufacturing Srl user’s manual TPDM ENTRY DESCRIPTION Sub-Index Description number of entries Entry Category Mandatory Access PDO Mapping Value Range Default Value Sub-Index Description Speed during search for switch Entry Category Mandatory Access PDO Mapping Possible Value Range...

  • Page 154: Functional Description

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.8 Functional description By choosing a method of homing by writing a value to homing method will clearly establish the homing signal (positive limit switch, negative limit switch, home switch) the direction of actuation and where appropriate the position of the index pulse(*).

  • Page 155: Method 2: Homing On The Positive Limit Switch And Index Pulse

    Parker Hannifin Manufacturing Srl user’s manual TPDM Homing on the negative limit switch and index pulse 12.1.8.1.2 Method 2: Homing on the positive limit switch and index pulse Using this method the initial direction of movement is rightward if the positive limit switch is inactive (here shown as low).
  • Page 156 Parker Hannifin Manufacturing Srl user’s manual TPDM...

  • Page 157: Methods 5 And 6: Homing On The Negative Home Switch And Index Pul

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.8.1.4 Methods 5 and 6: Homing on the negative home switch and index pul. Using methods 5 or 6 the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either to the left or the right of the point where the home switch changes state.

  • Page 158: Methods 15 And 16: Reserved

    Parker Hannifin Manufacturing Srl user’s manual TPDM (10) (10) (10) Index pulse Home switch Positive limit switch Figure 26: Homing on the home switch and index pulse - positive initial move (14) (12) (13) (11) (14) (11) (13) (12) (13)

  • Page 159: Methods 17 To 30: Homing Without An Index Pulse

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.8.1.7 Methods 17 to 30: Homing without an index pulse These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions. For example methods 19 and 20 are similar to methods 3 and 4 as shown in the following diagram.

  • Page 160: Profile Position Mode (Operative Mode 201)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.9 Profile position mode (operative mode 201) In profile position mode (Pr31=201) the buffer of targets allowed is 2 elemets long one for the profile in execution the other for the next, the motion profile type only valid value is 0 (trapezoidal profile with linear ramp).

  • Page 161: Object Dictionary Entries

    Parker Hannifin Manufacturing Srl user’s manual TPDM Name Value Description Target Halt = 0: Target position not reached Halt = 1: Axle decelerates reached Halt = 0: Target position reached Halt = 1: Velocity of axle is 0 Trajectory generator has not assumed the positioning values...

  • Page 162: Object 6081H: Profile Velocity

    Parker Hannifin Manufacturing Srl user’s manual TPDM OBJECT DESCRIPTION INDEX 607Ah Name Target position Object Code Data Type INTEGER32 Category Conditional; Mandatory, if pp or pc supported EN TRY DESCRIPTION Access PDO Mapping Possible Value Range INTEGER32 Default Value 12.1.9.2.3 Object 6081...

  • Page 163: Object 6085H: Quick Stop Deceleration

    Parker Hannifin Manufacturing Srl user’s manual TPDM OBJECT DESCRIPTIION INDEX 6083h Name Profile acceleration/deceleration Object Code Data Type UNSIGNED32 Category Conditional; Mandatory, if pp or pv supported ENTRY DESCRIPTION Access PDO Mapping Possible Value Range UNSIGNED32 Default Value 12.1.9.2.5 Object 6085 : Quick stop deceleration The quick stop deceleration is the deceleration used to stop the motor if the ‘Quick Stop’...

  • Page 164: Functional Description

    Parker Hannifin Manufacturing Srl user’s manual TPDM OBJECT DESCRIPTION INDEX 6086h Name Motion profile type Object Code Data Type INTEGER16 Category Conditional; Mandatory, if pp or pv supported ENTRY DESCRIPTION Access PDO Mapping Possible Value Range INTEGER16 Default Value 12.1.9.3 Functional description Two different ways to apply target positions to a drive, are supported by this device profile.

  • Page 165: Functional Description

    Parker Hannifin Manufacturing Srl user’s manual TPDM Figure 17, Figure 18 and Figure 19 show the difference between the "set of set-points" mode and the "single set-point" mode. The initial status of the bit ‘change set immediately’ in the controlword determines which mode is used. To keep simple these examples, only trapezoidal moves are used.
  • Page 166 Parker Hannifin Manufacturing Srl user’s manual TPDM Position Accepted position range Position window Position window Position reached Position not reached Position not reached target position Figure 33: Position reached Figure 34 shows the meaning of the sub-function following error in the profile position mode.

  • Page 167: Interpolated Position Mode (Operative Mode 202)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.10Interpolated Position Mode (operative mode 202) In Interpolated Position Mode (Pr31=202) the cycle time is set in the object 0x1006 'communication cycle period' and depending on the value set in this object different ways of regulation are possible.

  • Page 168: Object 60C0H: Interpolation Sub Mode Select

    Parker Hannifin Manufacturing Srl user’s manual TPDM Note: the position loop resolution can be selected through parameter Pr288, that would be Pr288 considered as the exponent of 2 elevated to the n power: 2 12.1.10.1 Object 60C0 : Interpolation sub mode select For the interpolated position mode a manufacturer may offer different interpolation algorithms.
  • Page 169 Parker Hannifin Manufacturing Srl user’s manual TPDM ENTRY DESCRIPTION Sub-Index Description number of entries 3 Entry Category Mandatory Access PDO Mapping Value Range Default Value Sub-Index Description Position setpoint in counts the first parameter of ip function fip(x1, .. xN)
  • Page 170 Parker Hannifin Manufacturing Srl user’s manual TPDM Operation enbled Disable Quick stop voltage shutdown Interpolation inactive Interpolation active...

  • Page 171: Mode Cyclic Synchronous Position (Operative Mode 203)

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.11Mode Cyclic synchronous position (operative mode 203) The overall structure for this mode Cyclic synchronous position (Pr31 = 203 – only for EtherCAT protocol) is shown in Figure: Torque offset (60B2h) Velociy offset (60B1h)

  • Page 172: Functional Description

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.11.1 Functional description Figure below shows the inputs and outputs of the drive control function. The input values (from the control function point of view) are the target position and optionally a position offset (to be added to the target position to allow two instances to set up the position) as well as an optional velocity offset and an optional torque offset used for feedforward control.

  • Page 173: Use Of Controlword And Statusword

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.11.2 Use of controlword and statusword The cyclic synchronous position mode uses no mode specific bits of the controlword and three bits of the statusword for mode-specific purposes. Figure 64 shows the structure of the statusword.

  • Page 174: Object 60B1H: Velocity Offset

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.11.3.2 Object 60B1h: Velocity offset This object shall provide the offset for the velocity value. The offset shall be given in user- defined velocity units. In cyclic synchronous position mode, this object contains the input value for velocity feed forward.

  • Page 175: Drive Parameters

    Parker Hannifin Manufacturing Srl user’s manual TPDM 12.1.12Drive parameters Some debug commands and parameters are added concerning CANopen Par. Description Field Range Def. Ris. Pr273 CANOPEN_CTRL_WORD. Control of drive status. -32768÷ +32767 Pr274 CANOPEN_STATUS_WORD. Status of the drive. -32768÷ +32767 Pr275 CANOPEN_DS301_STATUS.

  • Page 176: Opm202 Parameters

    Parker Hannifin Manufacturing Srl user’s manual TPDM Par. Description Field Def. b247.0 Profile in execution. (1) theory profile of the trapezoidal profile in execution. b247.12 Enable FFWD speed. (1) enables the FFWD on speed regulator of the trapezoidal positioner. 12.1.12.2 OPM202 parameters Par.
  • Page 177 Parker Hannifin Manufacturing Srl user’s manual TPDM b232.14 b232.15 b247.7 Component calculation FFWD from position reference. b247.15 Watchdog. This bit is set to 1 at every block sync reception...

  • Page 178: Appendix A: Conventions

    Parker Hannifin Manufacturing Srl user’s manual TPDM 13 Appendix A: Conventions Reference Positive Motor shaft movement (motor shaft view) Torque Positive Feedback counter Increments Encoder output Tachometer signal Positive ϑ • couple π • ϑ • couple Encoder In. A...

  • Page 179: Appendix C: Default Program For Pico-Plc

    Parker Hannifin Manufacturing Srl user’s manual TPDM 15 Appendix C: default program for pico-PLC 90.0 41.5 digital input 0 used to power the 90.0 41.5 drive 90.1 40.6 90.1 digital input 1 used for the stop 40.6 function 41.4 91.0 digital output 0 indicates that the 41.4...

  • Page 180: Appendix D: Flash Information

    Parker Hannifin Manufacturing Srl user’s manual TPDM 16 Appendix D: Flash information • TO SAVE USE THE BIT b99.15 PARAMETERS • TO SAVE THE PLC USE THE BIT b99.14 PROGRAM • TO CHANGE THE INSTRUCTIONS, PLC b99.13 MUST BE 0 •...

  • Page 181: Appendix E: Switching Frequency

    Parker Hannifin Manufacturing Srl user’s manual TPDM 17 Appendix E: Switching Frequency The configuration of the frequency is realized only on A axis, for all axes, by the bit b231.9 and b231.11: Frequency 231.9 231.11 8 kHz 4 kHz 16 kHz The default configuration uses the full characteristics of the drive;...

  • Page 182: Appendix F: Tpdm Alarms

    Parker Hannifin Manufacturing Srl user’s manual TPDM 18 Appendix F: TPDM Alarms Malfunction Alarm Remedies error code (Pr23) the par. “SUB Alarms table” No alarm If Pr24 is not 0, see Check the three-phase power line (max 480V + DC circuit overvoltage 10%).

  • Page 183: Sub Alarms Table

    Parker Hannifin Manufacturing Srl user’s manual TPDM Malfunction Alarm Remedies error code (Pr23) 25 (**) Speed loop FBK Check the speed FBK settings. Check the speed FBK connection. initialization error Motor shaft in movement during the start-up. The encoder is not phased. See the procedure.
  • Page 184 Parker Hannifin Manufacturing Srl user’s manual TPDM Malfunction SUB Alarms Remedies error code Pr23 Pr24 Communication error Check the serial connection. ExpBoard checksum error ExpBoard EEprom program error ExpBoard not compatible ExpBoard EEprom error ExpBoard ADC error bit 0 Power supply not 3-phases...

  • Page 185: Appendix G: Shield Fastener

    Parker Hannifin Manufacturing Srl user’s manual TPDM 19 Appendix G: shield fastener Option (code: EXP-GROUND) to fix the cable shield to the ground: Dimensions: 80 mm x 150mm (approx.) An example:...

  • Page 186: Appendix H: Ethercat Option

    Parker Hannifin Manufacturing Srl user’s manual TPDM 20 Appendix H: EtherCAT option IN – X20 OUT - X21 ETHERCAT No error The EtherCAT communication of the device is in working condition. Flickering Booting error Booting error was detected. INIT state reached, but parameter “Change”...

  • Page 187: Setting Parameters Of Ethercat Communication

    Parker Hannifin Manufacturing Srl user’s manual TPDM 20.1 Setting parameters EtherCAT communication Additional axes: Drive version Bit 0 Bit 1 Bit 2 TPDM b232.13 b232.14 b232.15 TPDM Single axis 0 added axis TPDM 2 axes 1 added axis TPDM 3 axes...

  • Page 188: Appendix I: Analog Expansion Board

    OUTput (dedicated to axis B). • The option E on TPDM 3 axes introduces 3 analog references (1 dedicated to axis A, 1 dedicated to axis B and 1 dedicated to axis C), and 2 auxiliary encoder INput (1 dedicated to axis B and 1 dedicated to axis C), and 2 simulated encoder OUTput (1 dedicated to axis B and 1 dedicated to axis C).

  • Page 189: Connectors Lay-Out

    Parker Hannifin Manufacturing Srl user’s manual TPDM 21.2 Connectors lay-out Enc. B(connector DB15-HD) Enc. C(connector DB15-HD) X23 (Axis B) X24(Axis C) Enc. IN C+ Enc. IN C+ Enc. IN C- Enc. IN C- Enc. OUT C- Enc. OUT C- Enc. OUT C+ Enc.

  • Page 190: Connections

    Parker Hannifin Manufacturing Srl user’s manual TPDM 21.3 Connections...

  • Page 191: Characteristics

    Voltage ±10 >80 resolution 14 + sign input impedance >18 kΩ max frequency 21.5 Parameters TPDM + analog exp. B. function description parameter connector X12 (A) Analog reference IN Auxiliary reference Pr22 X13 (B) (TPDM) X14 (C) Analog reference IN 14 bit –...
  • Page 192 Parker Hannifin Manufacturing Srl user’s manual TPDM Usage example:...

  • Page 193: Appendix L: Asynchronous Motor V/F Controlled

    Parker Hannifin Manufacturing Srl user’s manual TPDM 22 Appendix L: Asynchronous motor V/F controlled Under construction The motor torque depends to the power transmitted at the synnchronous speed: − Ω Ω − Ω π • where Ω [rad/sec] is: Ω...

  • Page 194: Parameters

    Parker Hannifin Manufacturing Srl user’s manual TPDM 22.1 Parameters Par. Description Field Range Def. Ris. Pr300 Iq torque current. Determines the torque applied to 0÷2000 the load. peak Pr301 Current magnetizing. Determines the magnetizing of 0÷2000 the motor. In case of defluxing at constant power and...

  • Page 195: Revision History Of The User Manual

    UL certified STO certified For other information log into website www.parker-eme.com. Arranges to the manual data can be made by the manufacturer without advance notice. The data shown in the manual correspond to the specifications relating to the revision date...

Table of Contents