Parker PAC Installation Manual
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Parker PAC Installation Manual

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PARKER AUTOMATION CONTROLLER
PAC Installation Guide
© 2019 Parker Hannifin Corporation
All Rights Reserved

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Summary of Contents for Parker PAC

  • Page 1 PARKER AUTOMATION CONTROLLER PAC Installation Guide © 2019 Parker Hannifin Corporation All Rights Reserved...

  • Page 2: Trademark Information

    IMPORTANT USER INFORMATION Trademark Information The Programmable Logic Controller and PLC are registered trademarks of the Allen-Bradley Company ® ® (Rockwell Automation). EtherCAT is a registered trademark and a patented technology of Beckhoff Automation GmbH, Germany. ® CoDeSys is a registered trademark of 3S-Smart Software Solutions GmbH. ®...

  • Page 3: Important User Information

    Important User Information Please read and follow all safety information for the Parker Automation Controller (PAC), including the warning and caution statements in this guide, before installing or operating the system. Safety Information WARNING: The PAC is used to control electrical and mechanical components of motion control systems in industrial environments.
  • Page 4 Parker or its subsidiaries or authorized distributors. To the extent that Parker or its subsidiaries or authorized distributors provide component or system...
  • Page 5 Parker Installation Guidelines described in this document offer information regarding how to install the PAC in a manner most likely to minimize the effects of drive emissions and to maximize the immunity of the PAC from externally generated interference. Compliance of the PACIO Modules is demonstrated by the application of the following standard: 2014/30/EU Electromagnetic Compatibility when installed, operated, and maintained as intended.
  • Page 6 The PAC must be mounted in a suitable tool accessed, fire enclosure.  PAC input power is rated at: 24 VDC (-15%/+25%) SELV Limited Energy, 1.2 A, 29W. External power  to the PAC must be provided by a Class 2 power source. For customer convenience, Parker offers an AC-input, Model PS-60W, Class 2, 24VDC power supply, which is available for purchase, to provide power to the PAC and PACIO Modules.

  • Page 7: Table Of Contents

    Powering the PAC ............................36 Configuring the Network and System Settings ................... 43 Configuring the PAC with the Parker Automation Manager Software ............47 Downloading and Uploading a Project to the PAC ..................57 CHAPTER 4: PACIO Modules ....................... 63 PACIO Module Overview ..........................
  • Page 8 Log Files ..............................223 I/O Modules ..............................224 HDMI Connector ............................224 Real Time Clock (RTC) ..........................224 APPENDIX A: PAC System Specifications ..................226 Controller Specifications ..........................227 PACIO Technical Data ..........................231 APPENDIX B: Additional Information ....................232 Terms and Acronyms ..........................

  • Page 10: About This Guide

    Updated European Community Approvals Table (pg 179) Updated Model Number Configuration (pg 183) Removed Programming your Xpress HMI in the PAC (added to PAM Help) Added a note about PACIO installation order (pg 30) Updated Run/Stop LED Color descriptions (pg 40 & 179) Updated EtherCAT_Master Task defaults for PAM version 1.3.0.
  • Page 11 Assumptions of Technical Experience Parker Hannifin Corporation assumes you are qualified in the servicing of industrial control systems, and trained in recognizing hazards in products with hazardous energy levels. To install and troubleshoot the PAC, you should have a fundamental understanding of the following: Electronic concepts such as voltage, current, and switches ...

  • Page 12: Chapter 1: Product Overview

    PRODUCT OVERVIEW CHAPTER 1: Product Overview Parker Automation Controller Installation Guide...

  • Page 13: Product Description

    The PAC operating system and runtime software reside on a standard Secure Digital (SD) memory card inserted into a slot at the top of the PAC. LED indicators on the PAC front panel help you to monitor and troubleshoot the status of its installation requires only a small screwdriver.
  • Page 14 The PAC also offers a PROFINET Slave option via a communication module.  The PAC has an optional OPC UA (Unified Architecture) Server. OPC UA is a machine to machine  communication protocol for industrial automation developed by the OPC Foundation. The OPC UA Server communicates with suitable OPC UA clients and receives data from the symbol configuration in Parker Automation Manager.

  • Page 15: Product Features

    Product Features Overall, the PAC System consists of the Controller, PACIO Modules, and an optional communication module. The following sections highlight the various features of the PAC. Features of the PAC and PACIO Modules PAC and PACIO Modules Number Feature Name...
  • Page 16 ) indicate the system status USB Ports Dual standard USB 2.0 ports, type A SD Card Parker removable SD (or SDHC) memory card Button Push button used for logging the IP address HDMI Connector Not Functional, for Factory Use Only...
  • Page 17 PACIO Module Features For the basic layout of the PACIO Modules see the illustration below. The PACIO Modules consist of a plastic housing and an internal aluminum profile with an integral mechanism to snap the Module to a 35mm DIN rail. The PACIO Modules differ from one another in their functionality, connectors and indicators.
  • Page 18 Its interconnections among the PAC at one end, and both the I/O Modules and drives at the other, are as fast as those of a backplane bus. An EtherCAT-connected I/O bus acts much like centralized control systems, overcoming the issue of bus transfer times that burden conventional fieldbus systems.
  • Page 19 Controller to each of the Modules is via an internal EtherCAT E-Bus network. The first PACIO Module plugs into the E-Bus connector on the PAC Controller, and each additional Module plugs in to the proceeding Module, making a chain of up to 20 interconnected Modules. You choose from a variety of PACIO Modules to add, based on the requirements of your specific application.

  • Page 21: Chapter 2: Installation

    CHAPTER 2: Installation...

  • Page 22: Checking Your Shipment

    88-032477-01 Required Tools Installing the PAC and PACIO Modules on the DIN rail requires no tools. However, a small flat blade screwdriver (tip size 0.04mm x 2.5mm) is required for attaching the wiring to the PAC Controller and PACIO Modules.
  • Page 23 Important: A Limited Power Source (LPS) power supply or circuit according to IEC 60950-1, or an NEC Class 2 power source must be used to provide power to the PAC. NEC Class 2 circuits are considered to be safe from a fire ignition standpoint and provide acceptable protection against electric shock.

  • Page 24: Installation Overview

    INSTALLATION Installation Overview The illustration below shows the components that you need to install the PAC. It shows the Controller connected to multiple PACIO Modules. The recommended installation process follows. Basic Installation Steps The following steps give a high-level overview of the installation process. See the remainder of the chapter for additional details on completing each step.

  • Page 25: Installation Guidelines

    EMI considerations. Regulatory Installation Guidelines The PAC System is designed for use in industrial environments. It is to be installed in an industrial enclosure and factory wired according to National Electric Code (NEC) guidelines. When installing the Controller and PACIO, you can either use a 24VDC Limited Power Source (LPS) or Class 2 power circuit available in the control cabinet, a purchased LPS or Class 2 power supply, or an optional Parker model PS-60W Class 2 power supply, purchased separately.
  • Page 26 Allow a minimum of two inches between the inside of the enclosure and the top, bottom, and sides of the PAC. Verify that the surface of the enclosure on which the PAC is mounted is flat and free of raised or depressed areas.
  • Page 27 (IEC/EN61010-1). To reduce radiated emissions, ensure that there is a low impedance earth connection to the PAC, which can be accomplished by attaching the DIN rail to a suitable Earth ground and also utilizing Pin-3 on the Controller 24VDC power input connector. This connection must be made with the shortest possible, heavy gage wire or braided cable.
  • Page 28 Calculate the overall length of DIN rail required for the installation base on the following component widths. Be sure to include extra length for adding additional modules in the future and a clearance allowance for removing modules.    Parker Automation Controller Installation Guide...

  • Page 29: Mounting The Controller

    Mounting the Controller To mount the PAC Controller to the DIN Rail: 1. Push the module up against the mounting rail from below, allowing the metal spring to snap in between the mounting rail and mounting area. 2. Push the module against the mounting wall until it snaps into place.

  • Page 30: Removing The Controller

    Damage to the modules or unintended I/O functionality might occur. Earth Ground Just as with the PAC Controller, connect the PACIO Modules to Earth by attaching the metal housing to operative Earth via the grounded DIN rail. Parker Automation Controller Installation Guide...
  • Page 31 Check all connections to verify that: The connection between the PACIO Module housing and DIN rail conducts well.  The connection between the DIN rail and control cabinet conducts well.  The control cabinet is connected to Earth.  PACIO Module on DIN Rail...
  • Page 32 Note: To ensure smooth functionality of the PACIO modules, the PACIO modules must be arranged based on their e-bus load. The modules with the biggest e-bus load are to be arranged directly next to the PAC Controller. The modules with the smallest e-bus load should be the furthest from the PAC.
  • Page 33 To Remove a PACIO Module from the PAC Controller 1. Press the Unlock Button on the PACIO Module that needs to be removed, and slide all modules about 2 cm to the right. 2. Push the Unlock Button on the adjacent Module to the right of the Module to be removed and slide the Module that needs to be removed to the left, just enough to clear the E-Bus connector on the right Module.

  • Page 34: Attaching Cables

    INSTALLATION Fieldbus Communication Module (optional) An optional Fieldbus Communication Module is available with the PAC Controller in order to provide PROFINET I/O data via a PCI Express interface. Refer to Chapter 6 for more information on the configuration or installation of the PROFINET Slave option.

  • Page 35: Chapter 3: System Start-Up And Configuration

    CHAPTER 3: System Start-up and Configuration...

  • Page 36: Overview Of System Start-Up

    Overview of System Start-up Once the installation location has been properly determined and the PAC Controller and PACIO Modules have been mounted to the DIN rail and properly grounded, it is time to apply power and configure the PAC Controller.
  • Page 37 Connection Diagram For convenience, the 24VDC input connector can be prewired and then plugged into the mating connector on the unit. Remember to tighten the two screws located on each side of the connector to prevent unintended disconnection. CAUTION: To reduce issues associated with noise on the input DC power, keep the 24VDC wiring away from any AC interfering sources, such as motor leads or other devices, and keep the wiring as short as possible.
  • Page 38 CAUTION: Permanently connected equipment must include a switch or circuit breaker between the Controller and power source. This disconnect must be in a suitable location within reach of the Controller and must be properly marked to indicate that its purpose is to disconnect power. Parker Automation Controller Installation Guide...
  • Page 39 4.88 x 1.97 x 4.55 (124 x 50 x 116mm) If you provide your own machine power or a separate AC/DC power supply, the nominal input to the PAC Controller and up to approximately 20 PACIO Modules is 24VDC @ 1.2A or a total of 29 Watts.
  • Page 40 1. Push a small screwdriver (tip size 0.04mm x 2.5mm) into the small square opening on the back of the connector. 2. Insert the stripped wire (<10mm) into the adjacent rectangular opening on the connector. 3. Remove the screwdriver. 4. Gently tug on the wire to confirm that it is tightly captured. Parker Automation Controller Installation Guide...
  • Page 41 Attach Wires to Tension Clamp Terminals PACIO Power Distribution Module Many PACIO Modules require 24VDC to provide power to field outputs. To ensure that there is as  little cross interference as possible, do not connect the PACIO field power supply lines from one PACIO power supply port to the next.
  • Page 42 SYSTEM START-UP AND CONFIGURATION PACIO Shield 14 mm PACIO Shield 2x8mm Apply power to the PAC for the First Time Once the following steps have been completed, 24VDC can be applied to the Controller and PACIO Modules: PAC Controller has been mounted to a DIN rail ...

  • Page 43: Configuring The Network And System Settings

    Configuring the Network and System Settings Upon powering the system for the first time, use the PAC Configuration Tool to configure the initial system parameters. After commissioning the machine, these parameters need to be changed. To run the PAC Configuration Tool located in the PAC Controller, perform the following steps: 2.
  • Page 44 Click on the [?] button at the upper right corner of the page to display online help at any time to learn more about using the PAC Configuration Tool. This tool is useful for setting or changing the Controller system parameters.
  • Page 45 IP addresses of the PAC Controller(s) do not conflict with any other devices on the same network Tab 2 – System Settings This tab is used for assigning the PAC Controller and for setting the date and time parameters.
  • Page 46 SYSTEM START-UP AND CONFIGURATION Tab 4 – Xpress HMI Settings This tab is used for the Xpress HMI option on the PAC. It allows the user to launch the Xpress Shell and Upload/Download Xpress projects. Tab 5 – About the PAC , and the software and firmware version numbers.

  • Page 47: Configuring The Pac With The Parker Automation Manager Software

    Configuring the PAC with the Parker Automation Manager Software The Parker Automation Manager Software package is used to configure the PAC as the EtherCAT master and to program the PAC with the IEC611-31 language. The Parker Automation Manager software can be downloaded from parkermotion.com under the PAC product page or in the Support and Downloads page.
  • Page 48 5. Choose Add Device. This will add the PAC320 to your device tree. 6. Choose the PLC_PRG language you would like to use in your project. Choose OK. 7. The PAC will now show up in the Device Tree and you are now ready to start building your project with the PAC.
  • Page 49 8. The Help menu in Parker Automation Manager is a great resource with documentation to help you start programming your project.
  • Page 50 Ethernet port. The subnet mask on both need to match (the default on the PAC is 255.255.0.0). Alternatively, you could just type in the IP Address of the PAC in the right side drop down box on the Communications Setup tab from the previous step.
  • Page 51 If your PAC will only be used with the PACIO Modules, the use of distributed clocks is not required. But if you are using the PAC with a servo drive such as the Compax3, then these steps are required.
  • Page 52 The amount of time offset is set by the "Sync Offset" option in Parker Automation Manager. Using the distributed clock option on the PACIO module ensures that the output is set during this offset "Sync"...
  • Page 53 3. A list of connected EtherCAT slaves will be displayed. If this list is missing a slave, ensure the slave is connected and powered on, and then click the Scan for Devices button to re-scan.
  • Page 54 Configuration of the PACIO (Offline Method) After you have configured the PAC as an EtherCAT master, you can now add your PACIO Modules as slaves under the PAC320_BusCoupler. You can add the modules to the project without having an Ethernet connection to the PAC.
  • Page 55 2. Find Parker Hannifin as the Vendor and select the appropriate PACIO slave module that corresponds to the PACIO hardware on your system. Then click Add Device 3. The new module appears in the list. You can continue to append more PACIO Modules as needed...
  • Page 56 Adding an EtherCAT slave To add an EtherCAT slave drive such as the Parker Servo Drive (PSD) or the Compax3, please refer to the Parker Drives section of the Parker Automation Manager (PAM) Online Help. To configure the PSD drive, you can use the PSD Servo Manager tab in the PSD Device tab in PAM.

  • Page 57: Downloading And Uploading A Project To The Pac

    Downloading and Uploading a Project to the PAC There are two ways to download your project code to the PAC. One way is to download just the project execution code, which downloads the project as the compiled files needed by the PAC to run the project.
  • Page 58 PAC. 3. If there is a project already on the PAC and you want to replace it with this application, click Yes. 4. If you are downloading the project the first time to a PAC without a project, it may prompt you with a pop up window asking if you want to download the application, click Yes.
  • Page 59 1. To download the source files to the PAC, in Parker Automation Manager select FileSource Download. 2. Select PAC320 under the Gateway as the device to download the project. If the PAC does not show up under the Gateway, select Scan Network to locate the PAC. Select OK to download the project.
  • Page 60 PAC per the instructions in the previous section): 1. In Parker Automation Manger select FileSource Upload. 2. Select the PAC on the Gateway and select OK. If a PAC does not show up on the Gateway, select Scan network. Parker Automation Controller Installation Guide...
  • Page 61 Your project and source files are now saved to your computer. 4. If you would like to open the project, click Yes. Your project and source files are now opened in Parker Automation Manager. Opening a PAM 1.2.1 project in PAM 1.3.0 PAM 1.3 will allow a user to open either a PAM 1.2.1 project or a PAM 1.3.0 project.
  • Page 62 3. From the Devices Tree - This will tell the project to use the PAM 1.3 Device Description for the PAC Device. 4. Update any other device in the tree to make sure the latest Device Description is used in the project.

  • Page 63: Chapter 4: Pacio Modules

    CHAPTER 4: PACIO Modules...

  • Page 64: Pacio Module Overview

    Modules, counters and interface Modules. Each of the PACIO Modules listed in the table below are compatible with the PAC. See the remainder of this chapter for details about each Module To order, contact your local Automation Technology Center (ATC) or distributor.
  • Page 65 PACIO Accessories Part Number PACIO Power Distribution 2X16 PACIO-411-00 PACIO Shield 2x8mm PACIO-412-01 PACIO Shield 14mm PACIO-412-02 43-026590-01 PACIO 2-Pole Connector 43-026591-01 PACIO 18-Pole Connector PACIO 36-pole Connector 43-026592-01...

  • Page 66: Pacio-400-00 - Bus Coupler 3A

    PACIO MODULES PACIO-400-00 - Bus Coupler 3A Although a bus coupler is built in to the PAC, the PACIO Bus Coupler 3A Module serves as a bus for remote I/O modules. It converts CAT5e (twisted pair cable) to a low-voltage differential signaling (LVDS) E-Bus and also provides the system power required by the remote PACIO modules.
  • Page 67 Diagram that shows how to use the Extender Module with the Bus Coupler for additional PACIO modules. NOTE: For the best emission results, connect the shielding of the EtherCAT cable to Earth ground (see PACIO-412-01 & PACIO-412-02 Shield Connection Terminal Block on page 197). Module State Variable Data Type...
  • Page 68 Off/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange In L/A State LED Flash Code Explanation Not connected No Ethernet connection Connected Green, on Connected to Ethernet Traffic Green, flashing Exchanging telegrams Parker Automation Controller Installation Guide...

  • Page 69: Pacio-450-02 - Di16/Do8 1A

    PACIO-450-02 - DI16/DO8 1A I/O Connection Front view of PACIO DI16/DO8 1A Module The PACIO DI16/DO8 1A Module features 16 digital inputs and 8 digital outputs. Technical data PACIO DI16/DO8 1A Part number PACIO-450-02 Controller ASIC ET1200 Baud Rate 100 Mbit/s Power Supply 24 VDC -20% +25% E-Bus Load...
  • Page 70 State LED Flash Code Explanation Green, on 24 VDC supply ok 24 VDC supply not ok State LED Flash Code Explanation Green, on Input signal TRUE / output enabled Input signal FALSE / output disabled Parker Automation Controller Installation Guide...
  • Page 71 CAUTION: The output drivers have a thermal fuse to automatically turn off any short-circuited outputs. If a short circuit occurs, remove the fault and allow the output to cool down and reset before reenergizing the system.

  • Page 72: Pacio-450-03 - Di16/Do16 1Ms/0.5A

    -2, type 1) Signal Level Typical current draw of 5 mA per input at 24V Output Specs Digital Outputs 0.5 A Maximum Current Total Current Maximum 8A Variable Variable Data Type Explanation DigitalInputn BOOL Digital input (n=0...15) Parker Automation Controller Installation Guide...
  • Page 73 DigitalOutputn BOOL Digital output (n=0...15) Terminals Connect L- to both L- terminals if the total current exceeds the 6A limit. L+ and L- on both the inputs and outputs are internally connected. Power Supply to Module I/Os 24 VDC Status LEDs The LED labeled The LED labeled indicates the state of the Module...

  • Page 74: Pacio-450-05 - Di8/Do8 1Ms/0.5A

    Digital inputs Maximum Input Frequency 1000 Hz Off: - -2, type 1) Signal level Typical current draw 5 mA per input at 24V Output Specs Digital outputs 0.5A per output Maximum current Total current Maximum 8A Parker Automation Controller Installation Guide...
  • Page 75 Variable Variable Data type Explanation DigitalOutputn BOOL Digital output (n=0...15) Terminals Power supply to Module I/Os 24 VDC Status LEDs The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC. The LED labeled "IO" indicates the state of the ed "Power"...

  • Page 76: Pacio-450-13 - Di16/Do16 1Ms/0.5A Ls (Sinking)

    Maximum Input Frequency 1000 Hz Off: - -2, type 1) Signal level Typical current draw of 2 mA per input at 24V Output Specs Digital outputs 0.5 A per output Maximum current Total current Maximum 8A Parker Automation Controller Installation Guide...
  • Page 77 Variable Variable Data Type Explanation DigitalInputn BOOL Digital input (n=0...15) DigitalOutputn BOOL Digital output (n=0...15) Terminals Connect L- to both L- terminals if the total current exceeds the 6A limit. L+ and L- on both the inputs and outputs are internally connected. Power Supply to Module I/Os 24 VDC Status LEDs...

  • Page 78: Pacio-451-02 - Di32 1Ms

    1000 Hz Off: - -2, type 1) Signal level Typical current draw of 5 mA per input at 24V Variable Variable Data Type Explanation DigitalInputn BOOL Digital input (n=0...31) Terminals Power Supply to Module I/Os Parker Automation Controller Installation Guide...
  • Page 79 Status LEDs LED indicates the state of the Module therCAT ASIC. State LED Flash Code Explanation Init Initializing, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange Safe-Op Off/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange Channel State State...

  • Page 80: Pacio-451-03 - Di16 1Ms

    Input Specs Digital inputs Maximum Input Frequency 1000 Hz Off: - -2, type 1) Signal level Typical current draw of 5 mA per input at 24V Variable Variable Data type Explanation DigitalInputn BOOL Digital input (n=0...15) Parker Automation Controller Installation Guide...
  • Page 81 Terminals Power supply to Module I/Os Status LEDs State LED Flash Code Explanation Init Initializing, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange Safe-Op Off/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange Channel State State State Green, on...

  • Page 82: Pacio-452-01 - Do16 0.5A

    Baud rate 100 Mbit/s Power supply 24 VDC -20% +25% E-Bus load 130mA Output Specs Digital outputs 0.5A per output Maximum current Total current Maximum 8A Variable Variable Data type Explanation DigitalOutputn BOOL Digital output (n=0...15) Parker Automation Controller Installation Guide...
  • Page 83 Terminals Power supply to Module I/Os 24 VDC Status LEDs The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC. The LED labeled "IO" indicates the state of the ed "Power" indicates the state of the I/O power supply; the Module is not monitored for low voltage status. State LED Flash Code Explanation...

  • Page 84: Pacio-452-02 - Do8 1A

    Output Specs Digital outputs 1A per output Maximum current Total current Maximum 8A Variable Variable Data type Explanation DigitalOutputn BOOL Digital output (n=0...7) Reserved BOOL Unused output addresses Terminals Power supply to Module I/Os 24 VDC Parker Automation Controller Installation Guide...
  • Page 85 Status LEDs The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC. The LED labeled "IO" indicates the state of the ed "Power" indicates the state of the I/O power supply; the Module is not monitored for low voltage status. State LED Flash Code Explanation...

  • Page 86: Pacio-452-03 Do8 Relay No 24V

    24 VDC -20% +25% E-Bus load 130mA Variable Variable Data type Explanation DigitalOutputn BOOL Digital output (n=0...7) Reserved BOOL Unused output addresses Module State Variable Data type Explanation VoltageOK BOOL Low Voltage (supplied power < 19.2V) Parker Automation Controller Installation Guide...
  • Page 87 Terminals Power supply to Module I/Os 24 VDC Status LEDs The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC. The LED labeled "IO" has no function on this module. The LED labeled "Power" indicates the state of the I/O power supply.

  • Page 88: Pacio-452-04 Do8 Relay No 230Vac

    24 VDC -20% +25% E-Bus load 130mA Variable Variable Data type Explanation DigitalOutputn BOOL Digital output (n=0...7) Reserved BOOL Unused output addresses Module State Variable Data type Explanation VoltageOK BOOL Low Voltage (supplied power < 19.2V) Parker Automation Controller Installation Guide...
  • Page 89 Terminals Power supply to Module I/Os 24 VDC Status LEDs The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC. The LED labeled "IO" has no function on this module. The LED labeled "Power" indicates the state of the I/O power supply.

  • Page 90: Pacio-441-01 - Ai4-Ma 12 Bit

    100 Mbit/s Power supply from coupler through E-Bus connector E-Bus load 140mA Terminals Power supply to Module I/Os 24 VDC For information on operative earth shielding of analog wire, see Adding PACIO Modules on page 30. Parker Automation Controller Installation Guide...
  • Page 91 Status LEDs The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC. The LED labeled "IO" indicates the state of the Module inputs and outputs. The LED labeled "Power" indicates the state of the I/O power supply. State LED Flash Code Explanation Init...
  • Page 92 16#23E0 45984 16#B3A0 12256 16#2FE0 49056 16#BFA0 15328 16#3BE0 52112 16#CB90 18384 16#47D0 55184 16#D790 21456 16#53D0 58256 16#E390 24528 16#5FD0 61312 16#EF80 27584 16#6BC0 20.5 62848 16#F580 30656 16#77C0 33728 16#83C0 21.37 65520 16#FFF0 Parker Automation Controller Installation Guide...
  • Page 93 Module Control To set up the module choose the options as appropriate and accept by setting control bit "SetOptions" to a rising edge. The module will confirm by returning "OptionsSet". There are various "module error" bits that the module uses to indicate errors. The states of the error bits are retained and also used for error indication by the "IO"...
  • Page 94 0.55 0.69 NOTE: If you are aiming for a high sampling frequency, the PAC should do the filtering (averaging) because it will normally have much more processing power. Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up-to-date.

  • Page 95: Pacio-441-51 - Ai4-Ma 12 Bit Coe

    NOTE: PACIO-441-51 AI4-mA 12 Bit CoE is the successor to PACIO-441-01 AI4-mA 12 Bit. Before replacing a PACIO-441-01 AI4-mA 12 Bit module with a PACIO-441-51 AI4-mA 12 Bit CoE module, modify the project on the PAC using Parker Automation Manager. Technical Data...
  • Page 96 Green, on 24 VDC supply ok 24 VDC supply not ok State LED Flash Code Explanation Green, on Channel enabled Output disabled Red, 1x Current >20.5 mA Error Red, 2x Curren <3.5 mA (4...20 mA mode) Parker Automation Controller Installation Guide...
  • Page 97 Analog Inputs Check the following variable for the digitized input values. Variable Data type Explanation Inputn UINT Measured Value -20 mA current mode Current (mA) Value (hex) 0x7FFF 0xFFFF Current (mA) Value (hex) 0x7FFF 0xFFFF...
  • Page 98 DC Enabled EtherCAT slaves and will ensure strict timing with minimal jitter based on the EtherCAT Master task cycle. For more information about Distributed Clocks, see the section titled Configure EtherCAT_Master Node. Parker Automation Controller Installation Guide...
  • Page 99 The process data objects stored as variables in the EtherCAT master's control program are used to access the input values and the module state.
  • Page 100 You can also use the SDO transfer components available for the EtherCAT master to change settings at runtime. Module Options The following options are available for every channel: Variable Data type Explanation Off (default) InputProperties 4-20 mA 0-20 mA Average n=1..255 Inputn = average after n cycles (default=1) Parker Automation Controller Installation Guide...
  • Page 101 StateWord The state word (DWORD) indicates the module state: Name Explanation Shortcut BOOL Short circuit ResetErrorAck Acknowledges "Reset Error" in Module Control Undervoltage24 Power to passive sensors < 19 V (no error, just info) EtherCATError Sync Manager Watchdog ConfigError Mismatch of Sync Manager's quantity structure not used Input0low Current at 4-20mA <...
  • Page 102 Input 0 low BOOL RO P 6500, 10 Input 1 low BOOL RO P 6500, 11 Input 2 low BOOL RO P 6500, 12 Input 3 low BOOL RO P 6500, 13..16 BOOL RO P Parker Automation Controller Installation Guide...
  • Page 103 6500, 17 Input 0 high BOOL RO P 6500, 18 Input 1 high BOOL RO P 6500, 19 Input 2 high BOOL RO P 6500, 20 Input 3 high BOOL RO P 6500, 21..32 BOOL RO P 6500, 1 ResetErrorAck BOOL RO P 6500, 3...

  • Page 104: Pacio-441-02 - Ai4/8-Vdc 13 Bit

    Input resistance Sampling frequency 1.12 kHz (if all channels are enabled) Connector IO/Power Plug 18-pole (43-026591-01) Controller ASIC ET1200 Baud rate 100 Mbit/s Power supply from coupler through E-Bus connector E-Bus load 190 mA Parker Automation Controller Installation Guide...
  • Page 105 Terminals The Module needs no separate 24V connector. Power is supplied to the Module through the E-Bus connector. For information on operative earth shielding of analog wire, see Adding PACIO Modules on page 30. Status LEDs The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC. The LED labeled "IO" indicates the state of the ts and outputs.
  • Page 106 "IO" LED. To reset the error bits, set control bit "ResetError" to a rising edge. Variable Data type Explanation SetOptions BOOL Rising edge  accepts Module options ResetError BOOL Rising edge  acknowledges error Parker Automation Controller Installation Guide...
  • Page 107 Module Options The following options are available for the PACIO AI4/8-VDC 13 Bit Module. To set and accept options, see above. Variable Data type Explanation Channel_n_On BOOL Enables channel n Filter on channel n Channel_n_Filter USINT New values avail. in k/3 ms (k=1..255) Change measuring range of channel n from bipolar +10V ...
  • Page 108 PACIO MODULES NOTE: If you are aiming for a high sampling frequency, the PAC should do the filtering (averaging) because it will normally have much more processing power. Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up-to-date.

  • Page 109: Pacio-441-52 - Ai4/8-Vdc 13 Bit Coe

    NOTE: PACIO-441-52 AI4/8-VDC 13 Bit CoE is the successor to PACIO-441-02 AI4/8-VDC 13 Bit module. Before replacing a PACIO-441-02 AI4/8-VDC 13 Bit with a PACIO-441-52 AI4/8-VDC 13 Bit CoE, modify the project on the PAC using Parker Automation Manager. Technical data PACIO AI4/8-VDC 13 Bit CoE...
  • Page 110 Module Defective State LED Flash Code Explanation Green, on Channel enabled Channel disabled Analog inputs Check the following variables for the digitized input values: Variable Data type Explanation Inputn Analog Voltage Values Measuring Value Variable Value Parker Automation Controller Installation Guide...
  • Page 111 ±10 V ± 5 V ± 2.5 V Bipolar Unipolar [UINT] Volt Volt Volt Decimal Hexadecimal Decimal Hexadecimal -2.5 -32768 16#8000 -4.5 -2.25 -29492 16#8CCC -26215 16#9999 -3.5 -1.75 -22938 16#A666 -1.5 -19661 16#B333 -2.5 -1.25 -16384 16#C000 -13108 16#CCCC -1.5 -0.75 -9831...
  • Page 112 EtherCAT Master task cycle. For more information about Distributed Clocks, see the section titled Configure EtherCAT_Master Node. The process data objects stored as variables in the EtherCAT master's control program are used to access the input values and the module state. Parker Automation Controller Installation Guide...
  • Page 113 Service data objects (SDO) are available for details and settings. You may run the configuration tool offline and choose the "Startup Parameters" to change some settings of module AI4/8-VDC 13 Bit CoE (such as the properties of each of the inputs). The EtherCAT master will apply the settings when starting up the module.
  • Page 114 Serial Number UINT32 2000 Analog Input Properties Array 2000, 0 Number of Entries UINT8 2000, 1 Input 0 UINT8 Off (0), 0-10V (1), +-5V (2) +-10V (3) +-2.5V (4) 2000, 2 Input 1 UINT8 Off (0), Parker Automation Controller Installation Guide...
  • Page 115 0-10V (1), +-5V (2) +-10V (3) +-2.5V (4) 2000, 3 Input 2 UINT8 Off (0), 0-10V (1), +-5V (2) +-10V (3) +-2.5V (4) 2000, 4 Input 3 UINT8 Off (0), 0-10V (1), +-5V (2) +-10V (3) +-2.5V (4) 2000, 5 Input 4 UINT8 Off (0),...
  • Page 116 RO=read-only, RW= read/write, P=process image Quality of Analog Values Best results are obtained by: Connecting the shield of the signal cables to operative earth  Connecting unused single-ended lines to Ground  Short-circuiting unused differential inputs  Parker Automation Controller Installation Guide...

  • Page 117: Pacio-442-02 - Ao4-Vdc/Ma 12 Bit

    PACIO-442-02 - AO4-VDC/mA 12 Bit Channel Channel0 Channel1 Channel2 Channel3 Front view of PACIO AO4-VDC/mA 12 Bit Module I/O connection The PACIO AO4-VDC/mA 12 Bit Module features four analog outputs. Every channel can be separately set to the unipolar or bipolar output of voltages or currents. Technical Data PACIO A04-VDC/mA 12 Bit Part number...
  • Page 118 Pre-operational, no data exchange Safe-Op Off/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange State LED Flash Code Explanation Green, on No error Error Malfunction of Module if E-Bus LED = On Parker Automation Controller Installation Guide...
  • Page 119 Inoperative if E-Bus LED = Off Red, 1x Short circuit Red, 2x Low voltage Red, 4x EtherCAT watchdog control Red, 6x Module-specific fault Configuration error (E-Bus pre-operational), number of process data Red, 7x differs from that in the Module Defective Red, on Module defective Power...
  • Page 120 16#1999 13107 16#3332 9830 16#2666 19660 16#4CCC 13106 16#3332 26214 16#6665 16383 16#3FFF 32767 16#7FFF 19660 16#4CCC 39320 16#9998 22936 16#5998 45874 16#B332 26213 16#6665 52427 16#CCCB 29490 16#7332 58981 16#E665 32767 16#7FFF 65534 16#FFFE Parker Automation Controller Installation Guide...
  • Page 121 Module control The Module provides you with various operational options. To set up the Module, choose the options as appropriate and accept by setting control bit "SetOptions" to a rising edge. The Module will confirm by returning "OptionsSet". There are various "Module error" bits that the Module uses to indicate errors. The states of the error bits are retained and also used for error indication by the "IO"...
  • Page 122 The PACIO AO4-VDC/mA 12 Bit Module has a set cycle time of 320µs that is not affected by the number of active channels. The cycle time is the time between receipt of the output values and the start of the D/A converters. Parker Automation Controller Installation Guide...

  • Page 123: Pacio-442-52 - Ao4-Vdc/Ma 16 Bit Coe

    NOTE: PACIO-442-52 AO4-VDC/mA 16-Bit CoE is the successor to PACIO-442-02 AO4-VDC/mA 12-Bit module. Before replacing a PACIO-442-02 AO4-VDC/mA 12-Bit with a PACIO-442-52 AO4-VDC/mA 16- Bit CoE, modify the project on the PAC using Parker Automation Manager.
  • Page 124 Explanation Init Initializing, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange Safe-Op Off/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange State LED Flash Code Explanation Green, on No error Parker Automation Controller Installation Guide...
  • Page 125 Malfunction of Module if E-Bus LED = On Inoperative if E-Bus LED = Off Red, 1x Short circuit Red, 2x Low voltage Error Red, 4x EtherCAT watchdog control Red, 6x Module-specific fault Configuration error (E-Bus pre-operational), number of process data Red, 7x differs from that in the Module Defective...
  • Page 126 The EtherCAT master will apply the settings when starting up the module. You can also use the SDO transfer components available for the EtherCAT master to change settings at runtime. Parker Automation Controller Installation Guide...
  • Page 128 16#6665 12.0 12.0 32767 16383 16#3FFF 16#7FFF 13.6 14.4 19660 16#4CCC 39320 16#9998 15.2 16.8 22936 16#5998 45874 16#B332 16.8 19.2 52427 26213 16#6665 16#CCCB 18.4 21.3 29490 16#7332 58981 16#E665 32767 16#7FFF 65534 16#FFFE Parker Automation Controller Installation Guide...
  • Page 129 State Word The state word is indicative of the module state: Name Explanation ResetErrorACK Acknowledges "Reset Error" in Module Control Undervoltage24 24V supply low EtherCATError Sync Manager Watchdog ConfigError Mismatch of Sync Manager's quantity structure Output 0 Overtemp Over-temperature detected by output driver (automatic switch-off) Output 1 Overtemp Over-temperature detected by output driver (automatic switch-off) Output 2 Overtemp...
  • Page 130 2004, 1 Active on EtherCAT BOOL FALSE Watchdog Error 6411 Analogue Outputs Array 6411, 0 Number of Entries UINT8 6411, 1 Analogue Output 0 UINT16 RW P 6411, 2 Analogue Output 1 UINT16 RW P Parker Automation Controller Installation Guide...
  • Page 131 6411, 3 Analogue Output 2 UINT16 RW P 6411, 4 Analogue Output 3 UINT16 RW P 6500 State Word Array 6500, 0 Number of Entries UINT8 6500, 1 Reset Error Ack BOOL RO P 6500, 2 Undervoltage24 BOOL RO P 6500, 3 EtherCAT Error BOOL...

  • Page 132: Pacio-443-01 - Ai4-Pt/Ni100 16 Bit

    Measurement current < 0.50 mA Sampling frequency > 7.75 Hz (if all channels are enabled) Connector IO/Power Plug 18-pole (43-026591-01) Controller ASIC ET1200 Baud rate 100 Mbit/s Power supply 24 VDC -20% +25% E-Bus load 150mA Parker Automation Controller Installation Guide...
  • Page 133 To reduce radiated emissions, ensure that there is a good earth connection to the PAC, which can be accomplished by attaching the DIN rail to a suitable Earth ground and also utilizing Pin-3 on the Controller DC power input connector.
  • Page 134 Bit Module. To set and accept options, see bove. Variable Data type Explanation Channel_n_Ni BOOL Set channel n to Ni100 or Ni1000 sensors Channel_n_On BOOL Enables channel n Channel_n_ResMode BOOL Set channel n to resistance mode Parker Automation Controller Installation Guide...
  • Page 135 Set filter for channel n. Channel_n_Filter USINT The arithmetic mean is output after n+1 conversions Channel number Module State The following Module states are indicated below. To reset the messages, see Variable Data type Explanation Shortcut BOOL not used Undervoltage BOOL not used Watchdog...
  • Page 136 PACIO MODULES NOTE: If you are aiming for a high sampling frequency, the PAC should do the filtering (averaging) because it will normally have much more processing power. Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up-to-date.

  • Page 137: Pacio-443-06 - Ai8 Thermocouple 16 Bit

    PACIO-443-06 - AI8 Thermocouple 16 Bit Front view of PACIO AI8 Thermocouple 16 Bit I/O connection The PACIO AI8 Thermocouple 16 Bit Module has 8 analog inputs for Thermocouple sensors. It also can measure mV voltages. Technical data PACIO AI8 Thermocouple 16 Bit Part number PACIO-443-06 Analog inputs...
  • Page 138 PACIO MODULES a good earth connection to the PAC, which can be accomplished by attaching the DIN rail to a suitable Earth ground and also utilizing Pin-3 on the Controller DC power input connector. This connection must be made with the shortest possible, heavy gage wire or braided cable. Low-resistance (<0.5 ohms) continuity should be verified with an ohmmeter for proper grounding.
  • Page 139 mV Mode in µV resp. 2µV Module Control The PACIO AI8 Thermocouple 16 Bit Module provide you with various operational options. To set up the Module, choose the options as appropriate and accept by setting control bit "SetOptions" to a rising edge. The Modules will confirm by returning "OptionsSet".
  • Page 140 Number of channels Cycle Time in ms NOTE: If you are aiming for a high sampling frequency, the PAC should do the filtering (averaging) because it will normally have much more processing power. Take the EtherCAT cycle into account to assess how much the values stored by the EtherCAT master are up-to-date.
  • Page 141 Quality of Analog Values Best results are obtained by: Connecting the shield of the signal cables to operative earth  Connecting unused single-ended lines to Ground  Short-circuiting unused differential inputs ...

  • Page 142: Pacio-443-57 - Ai4-Pt/Ni/Thermocouple Coe

    NOTE: PACIO-443-57 AI4-Pt/Ni/Thermocouple CoE is the successor to the following PACIO modules: PACIO-443-01 AI4-Pt/Ni100 16 Bit PACIO-443-03 AI4-Pt/Ni1000 16 Bit PACIO-443-06 AI8 Thermocouple 16 Bit Before replacing the above modules with PACIO-443-57 AI4-Pt/Ni/Thermocouple CoE, modify the project on the PAC using Parker Automation Manager. Parker Automation Controller Installation Guide...
  • Page 143 To reduce radiated emissions, ensure that there is a good earth connection to the PAC, which can be accomplished by attaching the DIN rail to a suitable Earth ground and also utilizing Pin-3 on the Controller DC power input connector. This connection must be made with the shortest possible, heavy gage wire or braided cable.
  • Page 144 Since a broken wire is not detected, the floating module values may provoke an indication of input high input low error Parker Automation Controller Installation Guide...
  • Page 145 Module Control Conversion of the analog values can be synchronized with DC (Distributed Clocks) or SM (Sync Manager). SM-Synchron: This mode will synchronize the EtherCAT slave with the Sync Manager Events SM2/SM3. Sync Manager Events are trigger when a passing frame is processed. DC-Synchron: This mode will synchronize the EtherCAT slave with the Distributed Clock sync events.
  • Page 146 AI4-Pt/Ni/TC (such as the properties of each of the inputs). The EtherCAT master will apply the settings when starting up the module. You can also use the SDO transfer components available for the EtherCAT master to change settings at runtime. Parker Automation Controller Installation Guide...
  • Page 147 Module Options The following options are available for every channel: Variable Data type Explanation Off (default) Internal (mV) Pt100 Pt1000 SensorType Ni100 Ni1000 (DIN43760) Thermo K Thermo J 0.1°C InputFormat...
  • Page 148 Incorrect range of connected reading Input2high Incorrect range of connected reading Input3high Incorrect range of connected reading 20-31 not used Analog Inputs Check the following variables for the digitized input values: Variable Data type Explanation TempInputn Parker Automation Controller Installation Guide...
  • Page 149 Control Word The control word contains a bit for acknowledging errors. Name Explanation ResetError 0 -> errors are retained, 1 -> errors cleared after removing their cause 1-15 not used Cold Point Compensation Cold points are automatically compensated if thermocouples are used. Temperature readings are taken immediately at the plug near the connection.
  • Page 150 Number of Entries UINT8 2002, 1 Input0DataRateAnd Filter UINT8 20 PLC 1000 PLC (0) 600 PLC (1) 330 PLC (2) 175 PLC (3) 90 PLC (4) 45 PLC (5) 20 PLC (6) 20 PLC+50&60Hz (7) Parker Automation Controller Installation Guide...
  • Page 151 20 PLC + 50Hz (8) 20 PLC + 60Hz (9) 2002, 2 Input1DataRateAndFilter UINT8 20 PLC 1000 PLC 600 PLC 330 PLC 175 PLC 90 PLC 45 PLC 20 PLC 20 PLC+50&60Hz 20 PLC + 50Hz 20 PLC + 60Hz 2002, 3 Input2DataRateAndFilter UINT8...
  • Page 152 6500, 20 Input 3 high BOOL RO P 6500, 21..32 BOOL RO P 7001 Module Control Array 7001, 0 Number of Entries UINT8 7001, 1 Reset Error BOOL RW P RO=read-only, RW= read/write, P=process image Parker Automation Controller Installation Guide...

  • Page 153: Pacio-443-58 Ai8-Pt/Ni/Thermocouple Coe

    NOTE: PACIO-443-58 AI8-Pt/Ni/Thermocouple CoE is the successor to the following PACIO modules: PACIO-443-01 AI4-Pt/Ni100 16 Bit PACIO-443-03 AI4-Pt/Ni1000 16 Bit PACIO-443-06 AI8 Thermocouple 16 Bit Before replacing the above modules with PACIO-443-58 AI8-Pt/Ni/Thermocouple CoE, modify the project on the PAC using Parker Automation Manager.
  • Page 154 To reduce radiated emissions, ensure that there is a good earth connection to the PAC, which can be accomplished by attaching the DIN rail to a suitable Earth ground and also utilizing Pin-3 on the Controller DC power input connector. This connection must be made with the shortest possible, heavy gage wire or braided cable.
  • Page 155 State LED Flash Code Explanation Init Initializing, no data exchange Pre-Op Red/green, 1:1 Pre-operational, no data exchange Safe-Op Red/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange State LED Flash Code Explanation Green, on No error Malfunction of Module if E-Bus LED = On Inoperative if E-bus LED = Off Error Red, 4x...
  • Page 156 EtherCAT Master task cycle. For more information about Distributed Clocks, see the section titled Configure EtherCAT_Master Node. The process data objects stored as variables in the EtherCAT master's control program are used to access the input values and the module state. Parker Automation Controller Installation Guide...
  • Page 157 Service data objects (SDO) are available for details and settings. You may run the configuration tool offline and choose the "Startup Parameters" to change some settings of module AI4-Pt/Ni/TC (such as the properties of each of the inputs). The EtherCAT master will apply the settings when starting up the module.
  • Page 158 PACIO MODULES Module Options The following options are available for every channel: Variable Data type Explanation Off (default) Internal (mV) Pt100 Pt1000 SensorType Ni100 Ni1000 (DIN43760) Thermo K Thermo J Parker Automation Controller Installation Guide...
  • Page 159 0.1°C InputFormat Raw (raw data) 1000 readings per second 600 readings per second 330 readings per second 175 readings per second 90 readings per second Data rate and filter 45 readings per second 20 readings per second 20 readings per second plus 50 & 60 Hz filter 20 readings per second plus 50 Hz filter 20 readings per second plus +60 Hz filter Average...
  • Page 160 Identity Object Array 1018, 0 Number of Entries UINT8 1018, 1 Vendor Id UINT32 0x0048554B 1018, 2 Product Code UINT32 185345 1018, 3 Revision Number UINT32 1018, 4 Serial Number UINT32 2000 Sensor Type Array Parker Automation Controller Installation Guide...
  • Page 161 2000, 0 Number of Entries UINT8 2000, 1 Sensor0 UINT8 Off (0), Internal (1), PT100 (2), PT1000 (3), NI100 (4), NI1000 (5), Thermo_K (6), Thermo_J (7), 2000, 2 Sensor1 UINT8 Off, Internal, PT100, PT1000, NI100, NI1000, Thermo_K, Thermo_J, 2000, 3 Sensor2 UINT8 Off,...
  • Page 162 Ω / V 2001, 8 Input3Format UINT8 0.1°C 0.1°C, Ω / V 2002 Data RateAndFilter Array 2002, 0 Number of Entries UINT8 2002, 1 Input0DataRateAnd Filter UINT8 20 PLC 1000 PLC (0) 600 PLC (1) Parker Automation Controller Installation Guide...
  • Page 163 330 PLC (2) 175 PLC (3) 90 PLC (4) 45 PLC (5) 20 PLC (6) 20 PLC+50&60Hz (7) 20 PLC + 50Hz (8) 20 PLC + 60Hz (9) 2002, 2 Input1DataRateAndFilter UINT8 20 PLC 1000 PLC 600 PLC 330 PLC 175 PLC 90 PLC 45 PLC...
  • Page 164 UINT8 1..255 2003, 8 Input 7 Average UINT8 1..255 6401 Analog input Array 6401, 0 Number of Entries UINT8 6401, 1 Analog Input 0 UINT16 RO P 6401, 2 Analog Input 1 UINT16 RO P Parker Automation Controller Installation Guide...
  • Page 165 6401, 3 Analog Input 2 UINT16 RO P 6401, 4 Analog Input 3 UINT16 RO P 6401, 5 Analog Input 4 UINT16 RO P 6401, 6 Analog Input 5 UINT16 RO P 6401, 7 Analog Input 5 UINT16 RO P 6401, 8 Analog Input 6 UINT16...

  • Page 166: Pacio-454-01 - Counter/Enc

    Typical current draw of 5 mA per input at 24V Output Specs Digital outputs 2A per output Maximum current Analog Output Specs Analog outputs Voltage ±10V Resolution 12 bit Fieldbus EtherCAT 100 Mbit/s EtherCAT-File ParkerEtherCATModules.xml Dimensions (WxHxD) 25x120x90 mm Parker Automation Controller Installation Guide...
  • Page 167 To reduce radiated emissions, ensure that there is a good earth connection to the PAC, which can be accomplished by attaching the DIN rail to a suitable Earth ground and also utilizing Pin-3 on the Controller DC power input connector. This connection must be made with the shortest possible, heavy gage wire or braided cable.
  • Page 168 The Status LEDs of the several IOs indicate the state of the individual I/Os. Status LEDs of I/Os Voltage Color Explanation 0..3 Green Digital Inputs Green Digital Outputs 7, 9, 11 Green Encoder signals A, B, Ref Parker Automation Controller Installation Guide...
  • Page 169 Function The PACIO Counter/Enc Module has two identical channels. Each channel has terminals for one encoder, four digital inputs, one digital output, and one analog output. The documentation organizes the variables into structured groups: Module Control/Module Status for controlling and monitoring the entire module. ...
  • Page 170 The Module offers different options for the operation of Counters. The options are set in the Module with the help of the control bit "SetOptions_1" (see also ) and then remain valid until the next setting procedure. 1. Set the variables for the desired configuration. 2. Set "SetOptions_1=FALSE" and then set "SetOptions_1=TRUE". Parker Automation Controller Installation Guide...
  • Page 171 The Module indicates the execution with "OptionsSet_1=TRUE". When "SetOptions_1" becomes FALSE again, the Module responds with "OptionsSet_1=FALSE". This indicates that the Module is ready for the next setting procedure. Variable Data type Value Explanation Deactivate compare function Enable_Compare_1 BOOL Activate compare function A, B, Ref with detection of direction SelectEncoder_1 BOOL...
  • Page 172 BOOL Copy "SetValue_1" to the current counter value SetCompare_1 BOOL Copy "SetValue_1" to the compare value register SetPreset_1 BOOL Copy "SetValue_1" to the preset value register SetMax_1 BOOL Copy "SetValue_1" to the maximum value register Parker Automation Controller Installation Guide...
  • Page 173 The current set values can be read in the variable "SelectedValue" from the group. Use the variable "Select_1",to determine which value you want to see in the variable "SelectedValue"(see section Counter Actual Values ). Variable Data type Explanation Sets the value displayed in the variable "SelectedValue_1": none Compare value Preset value...
  • Page 174 Time stamp for Digital Input 0 (Hardware Triggered) Input_1_1_TS UINT Time stamp for Digital Input 1 (Software Polled) Input_1_2_TS UINT Time stamp for Digital Input 2 (Software Polled) Input_1_3_TS UINT Time stamp for Digital Input 3 (Software Polled) Parker Automation Controller Installation Guide...
  • Page 175 NOTE: The time stamp is metered between frame- or DC-interrupts and signal changes on the input in µs. The value of the time stamp becomes 0xFFFF, when no signal change takes place between two frame- or DC-interrupts. In frame-synchronous mode: The time from the last frame-interrupt to the status change of the input is stored in the time stamp and sent in the following frame to the EtherCAT master.
  • Page 176 Explanation Output_0_0_Del UINT Output set delay in µs Counter 2 Variable Data type Explanation Output_1_0_Del UINT Output set delay in µs In frame-synchronous mode: Frame-Interrupts Digital Output Output set delay (n) Output set delay (n+1) Parker Automation Controller Installation Guide...
  • Page 177 Digital Output Frame Variable Output Set Delay TRUE Output set delay (n) FALSE Output set delay (n+1) In DC-synchronous mode: DC-Interrupts Frame Digital Output Output set delay (n) Output set delay (n+1) Digital Output Frame Variable Output Set Delay TRUE Output set delay (n) FALSE Output set delay (n+1)
  • Page 178 (*..use as compare value*) Term2_SetOptions_1:=TRUE; (*Activate selected options*) Step:= 1; (* Wait for confirmations "OptionsSet" and "CompareSet"*) IF Term2_OptionsSet_1 AND Term2_CompareSet_1 THEN Step:= 2; END_IF (* Set "Set_Options" and "SetCompare" in the starting position*) Term2_SetOptions_1:=FALSE; Term2_SetCompare_1:=FALSE; Parker Automation Controller Installation Guide...
  • Page 179 Step:=0; bInit:=FALSE; END_CASE END_IF Set Preset Value Copying the value of "SetValue_1" into the preset value is executed by "PresetSet_1=TRUE". If "SetPreset_1" is reset (FALSE) again, "PresetSet_1" also becomes FALSE again. Term2_SetValue_1:=diPresetValue; (*Copy a number into the source var*) Term2_SetPreset_1:=TRUE; (*Copy to the preset value*) Term2_PresetSet_1;...
  • Page 180 "ControlOutput_1". The current status of the output is read from the Module and displayed in "In_Output_0_0". See also Counter Options. Term2_ControlOutput_1:=FALSE; (*Term2_Output_0_0 controls output*) Term2_ControlOutput_1:=TRUE; (*Compare function controls output*) Term2_In_Output_0_0; (*Status of the output*) Parker Automation Controller Installation Guide...
  • Page 181 Operating as A-B-Ref-Counter or Event Counter The counter can be operated as an A, B, Ref Counter/Encoder or as an event counter. The selection is made by the variable "SelectEncoder_1". See also Counter Options. Term2_SelectEncoder_1:=FALSE; (*A, B, Ref *) Term2_SelectEncoder_1:=TRUE; (*Event counter at A*) (*B=FALSE:down, B=TRUE:up*) Single-end Multiple Counting...
  • Page 182 IF Term2_Referenced_1 THEN Step:=2; END_IF (* Reset of the referencing message*) Term2_ResetReferenced_1:=TRUE; Step:=3; IF NOT Term2_Referenced_1 THEN (* Reset "ResetReferenced_1"*) Term2_ResetReferenced_1:=FALSE; (*Switch off the referencing mode *) Term2_EnableReferencing_1:=FALSE; Step:=0; (*Next turn the same procedure.*) END_IF END_CASE END_IF Parker Automation Controller Installation Guide...
  • Page 183 Capture A falling edge at the Digital Input 1 can be used as trigger in order to save the current counter value (capture). Status bit "Captured_1" =TRUE when a capture event has occurred. You must reset "Captured_1" by "ResetCaptured_1" so the next capture event can be indicated. Term2_Input_0_1;...

  • Page 184: Pacio-455-03 - Profibus-Dp-Slave

    ASIC ET1200 Power supply from EtherCAT-Coupler via E-Bus-plug E-Bus load 210mA Galvanic separation Separated from one another and versus the bus Storage temperature Operating temperature Relative humidity 5%...95% without dewing Protection IP20 Interference immunity Zone B Parker Automation Controller Installation Guide...
  • Page 185 Terminals The Module needs no separate 24V connector. Power is supplied to the Module through the E-Bus connector. For information on operative earth shielding of analog wire, see Adding PACIO Modules page 30. Status LEDs The LED labeled "EtherCAT Run" indicates the state of the EtherCAT ASIC. The LED labeled "PROFIBUS" indicates the state of the Module regarding PROFIBUS.
  • Page 186 Park6943.GSD for PROFIBUS  Number and size of the data Modules are configurable. The relationship of input data and output data is always thereby 1:1. Select the desired data Modules in the respective Configurator tools. Parker Automation Controller Installation Guide...
  • Page 187 NOTE: Make sure that configuring on the EtherCAT side and the PROFIBUS side must be implemented identically. PROFIBUS To configure the PROFIBUS you need Park6943.GSD. This is to be imported into the PROFIBUS-master configurator. Four Modules with a maximum data area length of 160 bytes for each direction can be selected. The individual Modules are consistent for itself.
  • Page 188 END_IF PROFIBUS example with Siemens S7 This document outlines the procedure for configuring ProfiBus communication from PAC to a Siemens S7 processor capable of communicating this protocol. This particular configuration demonstrates this using the Siemens CPU 315-2 PN/DP 6ES7 315-2EH13-0AB0 / V2.6 processor and STEP 7 v5.4 SP5 software.
  • Page 189 4. In the new windows opened, open the branches in the right pane to find the Simatic 300 / Rack 300 / Rail and add it to the project by double-clicking it. You will now have a grid to configure your processor. 5.
  • Page 190 15. Save the project and download it to the processor. PAC Software 1. In this example, PAC has been configured with the device as shown. You will now add the following program code to the project and reference it with an associated task:...
  • Page 191 2. After adding the device and code to the project, you will configure the IO map as displayed:...
  • Page 192 PACIO MODULES 3. Download the project to the PAC and enter RUN mode. 4. You should now be able to monitor data being produced by the PAC by monitoring data in the STEP 7 software. Parker Automation Controller Installation Guide...

  • Page 193: Pacio-400-02 - Extender 2 Port

    PACIO-400-02 - Extender 2 Port Front view of the PACIO Extender 2 Port Module The purpose of the PACIO Extender 2 Port Module is the extension of a PACIO block. Technical Data PACIO Extender 2 Port Part number PACIO-400-02 Controller ASIC ET1200 Baud rate 100Mbit/s...
  • Page 194 CAUTION: Always use the appropriate XML file to review for the EtherCAT configuration. The Extender 2-port Module has four ports. The name 2-port Module was chosen because of the two standard, 100 base TX (OUT1, OUT2) RJ45 connections. Another two ports are covered by the E-Bus. Parker Automation Controller Installation Guide...
  • Page 195 The sequence in which the connections are operated is important to the configuration (which way the EtherCAT frame runs). Port Connection Sequence Port A E-Bus In Port B Out 2 Port C E-Bus Out Port D Out 1...

  • Page 196: Pacio-411-00 - Power Distribution 2 X 16

    (optional 0 VDC or 24 VDC) attached at the pins L1 or L2 on the pins 0 to 15 of the same row. The E-Bus is passed on from the previous Module to the next Module. STATUS LEDS The PACIO Power Distribution 2 x 16 Module has no Status LEDs. Parker Automation Controller Installation Guide...

  • Page 197: Pacio-412-01 & Pacio-412-02 Shield Connection Terminal Blocks

    PACIO-412-01 & PACIO-412-02 Shield Connection Terminal Blocks PACIO Shield 14 mm PACIO Shield 2x8mm 14mm Clamp The PACIO Shield Connection Terminal Block consists of the shield clamp, the clamp holder, two screws M3x5, two washers, and two spring washers. Technical Data PACIO Shield Connection Terminal Block 2x8mm Part number PACIO-412-01...
  • Page 198 CAUTION: Do not use the Shield Connection Terminal as a strain relief. A strong pull on the I/O cable can possibly unseat the PACIO Module from the DIN rail and damage adjacent modules and E-Bus communications. Parker Automation Controller Installation Guide...

  • Page 199: Pacio Connections To Parker Sensors

    PACIO Connections to Parker Sensors This section shows wiring diagrams for common Parker Sensor to PACIO Modules. Typically you should wire your home and limit sensors to your EtherCAT drive. But if your application requires these sensors to be connected to the PAC, use the following diagrams.

  • Page 200: P8S Global Drop-In Solid State Sensors

    PART# Description 003-2918-01 Extension Cable, 5m cable, M8 connector, flying lead, PVC jacket 003-2918-02 Extension Cable, 10m cable, M8 connector, flying lead, PVC jacket 003-2918-03 Extension Cable, 20m cable, M8 connector, flying lead, PVC jacket Parker Automation Controller Installation Guide...

  • Page 201: P8S Mini-Global Drop-In Solid State Sensors

    P8S Mini-Global Drop-In Solid State Sensors PART# NPN/PNP N.O. / N.C. CABLE 003-4475-01 P8S-MQFLX N.C. 3.0M FLY LEADS P8S-MQFLY N.C. 3.0M FLY LEADS 003-4475-02 P8S-MQSHX N.C. 0.3M with M8 P8S-MQCHY N.C. 0.3M with M8 003-4475-03 P8S-MMFLX N.C. 3.0M FLY LEADS P8S-MMFLY N.C.
  • Page 202 PACIO MODULES P8S-MPCHY N.O. 0.3M with M8 003-4475-07 P8S-MNFLX N.O. 3.0M FLY LEADS P8S-MNFLY N.O. 3.0M FLY LEADS 003-4475-08 P8S-MNSHX N.O. 0.3M with M8 P8S-MNCHY N.O. 0.3M with M8 Parker Automation Controller Installation Guide...

  • Page 203: Pac With 400Xr Series

    PAC with 400XR series...
  • Page 204 PACIO MODULES Parker Automation Controller Installation Guide...

  • Page 205: Pac With 400Lxr

    PAC with 400LXR...
  • Page 206 PACIO MODULES PAC with SMH sensors Parker Automation Controller Installation Guide...

  • Page 207: Communication Interfaces (Optional)

    CHAPTER 5: Communication Interfaces (Optional)

  • Page 208: Ethernet/Ip Overview

    The PAC can be ordered with an EtherNet/IP communication option (PAC320-xxE21-3A). With this option the PAC can be configured as a Scanner or Adapter (PAC versions 1.3.0 or later). To configure the PAC as a Scanner or Adapter, refer to the Communication Protocols section of the Parker Automation Manager (PAM) Online Help.
  • Page 209 Locks the Communication Module into the PAC. Used to remove and Sliding latch insert the Module into the Controller. Affixes the Communication Module to the carrier board of the PAC. Also Brackets provides an Earth ground connection for EMI shielding.

  • Page 210: Configuration Of Profinet Communications Module

    Configuration of PROFINET Communications Module This section describes a step-by-step instruction on connectivity of a PAC to a Siemens S7 controller communicating PROFINET by way of the PROFINET communication module. Hardware: PAC320 with PROFINET Module ...
  • Page 211 11. Choose 13. Choose 14. Right-click on MainTask, choose Add Object and select Program Call. 15. Select the and choose PLC_PRG found in the Application branch then select Add. 16. Right-click on PAC320-xxxx-xx and select Add Device. 17. Set Vendors to expand , expand PROFINET IO Device.
  • Page 212 10. Open Simatic 300 branch. 11. Open CPU 315-2 PN/DP. 12. Open 6ES7-315 2Eh13-0AB0. 13. Drag this to Slot 2. 14. Set the IP to 192.168.0.66. 15. Set the Mask to 255.255.255.0. 16. Click OK. Parker Automation Controller Installation Guide...
  • Page 213 2. Right-click on the PN-IO (X2 Port) of the PLC grid in the upper left. 3. Click PROFINET 4. (You will see a network branch appear in the graphical display. This will allow you to add the PAC. PROFINET device to the configuration). 5. In the right window listing devices, select the PROFINET 6.

  • Page 215: Chapter 6: Troubleshooting

    CHAPTER 6: Troubleshooting...

  • Page 216: Troubleshooting Overview

    ADDITIONAL INFORMATION Troubleshooting Overview The PAC Controller features LEDs on the front panel of the Controller and PACIO Modules which provide quick identification of the device status. After installation, if your Controller does not function properly, use the guidelines and procedures in this chapter to troubleshoot. These guidelines also apply to troubleshooting a malfunction during normal operation of the Controller.
  • Page 217 Configuration Tool in the About Tab (see page 43, About the PAC). The two files that contain the error logs are: PAC Runtime Config Log File and Retentive Memory Log File.

  • Page 218: Ethercat Connection

    The model number is invalid or missing  EtherCAT Connection There are a variety of reasons for problems with the EtherCAT connection: The PAC does not find the EtherCAT slave  There is a device conflict  The cable is not connected ...

  • Page 219: Ethernet Connection

     Blinking Link is detected and there is activity  If the PAC is unable to connect to the Ethernet Connection, perform the following: Verify the IP address  Attempt to connect the PAC through a browser with the PAC Configuration Tool ...

  • Page 220: Usb Troubleshooting

    Flashback Utility system onto the SD card. The Flashback utility can be found on-line via the PAC product page: parkermotion.com/globalpac. Before you run the utility, you need a computer that has a native or external SD card reader/writer. You can use the flashback utility when: A new version of the PAC firmware is available ...

  • Page 221: Push Button

    Log IP Address If you do not know the IP Address of the PAC, you can use the Push Button to log the IP Address. If you press and hold the button, it will record a time stamp and IP Address of both X2 and X3 Ethernet ports. A _Address_Info directory of the SD card.
  • Page 222 LINK / RJ45 CH0 (4) & CH1 (7) LED green Green A connection to Ethernet exists The device has no connection to Ethernet RX/TX / RJ45 CH0 (6) & CH1 (9) LED yellow Yellow The device sends/receives Ethernet Flashing frames Parker Automation Controller Installation Guide...

  • Page 223: Secure Digital (Sd) Card

    If you are having difficulties powering up the PAC (the Error LED is Red), it could be associated with the SD Card. The SD Card has been specially formatted for the PAC. Make sure you are using a Parker SD card and it has all of the necessary files on the card.

  • Page 224: I/O Modules

    Log file, and PAC Configuration Tool Log file. These log files include time stamped actions to help the user track the history of PAC since the last power cycle. To learn more about the log files, click on the Help (?) I/O Modules Refer to Chapter 5 for troubleshooting the individual PACIO Modules.
  • Page 225 The battery life expectancy is dependent on how long DC power is provided to the PAC; the longer that DC power is applied to the PAC over a period of time, the less battery drain will be required to power the RTC circuit.

  • Page 226: Appendix A: Pac System Specifications

    ADDITIONAL INFORMATION APPENDIX A: PAC System Specifications Parker Automation Controller Installation Guide...

  • Page 227: Controller Specifications

    Controller Specifications Environmental Specifications Environmental Specifications Table Category Specifications Operating Temperature 32 to 122ºF (0 to 50ºC) Ambient (air temperature surrounding the Controller), Indoor Use Only Storage Temperature -13 to 158ºF (-25 to +70ºC) Relative Humidity 0% to 95% non-condensing Altitude 10,000 Feet Shock Rating...
  • Page 228 H x W x L mm x 125.22mm  x 203.71mm) With optional communications module:  125.22mm x 203.71mm) Weight Without optional communications module: 1.45 lbs (0.66 kgs)  With optional communications module: 1.65 lbs (0.75 kgs)  Parker Automation Controller Installation Guide...
  • Page 229 PAC Controller Dimensions – inches (mm) 8.02 [203.6] 3.34 7.96 [84.9] [202.2] 4.74 [7.0] [120.4] 4.98 [126.6] 4.86 [123.5] 4.80 [122.0] 3.12 [79.2] 3.27 2.28 [57.9] [83.0] 2.73 1.31 [69.4] [33.2] PACIO Dimensions – inches (mm)
  • Page 230 ADDITIONAL INFORMATION Agency Approvals The PAC Controller was tested in accordance with the product family standard for Electrical Equipment for Measurement, Control and Laboratory use. EN 61326-1:2013 / IEC 61326-1:2012 Immunity requirements for equipment used in Industrial Locations. European Community Approvals Table...

  • Page 231: Pacio Technical Data

    PACIO Technical Data PACIO Module System Properties Fieldbus EtherCAT 100Mbit/s Dimensions 25mm x 120mm x 90mm (W x H x D) Housing mount aluminum Shield connected straight to Module housing Installation 35mm DIN rail (top-hat rail) IO connection spring- -pin Signal indication LED located next to the terminal Diagnosis...

  • Page 232: Appendix B: Additional Information

    ADDITIONAL INFORMATION APPENDIX B: Additional Information Parker Automation Controller Installation Guide...

  • Page 233: Terms And Acronyms

    Terms and Acronyms The following table lists terms and acronyms used in this guide, along with their definitions. Term Definition Automation Technology Center LVDS Low-voltage Differential Signaling Programmable Logic Controller Volts Alternating Current Volts Direct Current...

  • Page 234: Controller Options

    ADDITIONAL INFORMATION Controller Options Model Number Configurations The model number configuration of the PAC provides a good overview of the available model options. The full model configurator is as follows: PAC320 N 2 1 A 0 0 Parker Automation Controller...

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