Parker PACHC Series Operation Manual
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Parker PACHC Series Operation Manual

Electrohydraulic control module
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Electrohydraulic Control Module Series PACHC
Operation Manual
Bulletin MSG11-5715-720/UK

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Summary of Contents for Parker PACHC Series

  • Page 1 Electrohydraulic Control Module Series PACHC Operation Manual Bulletin MSG11-5715-720/UK...

  • Page 2: Table Of Contents

    Parker or its subsidiaries or authorized distributors. 5.3.2 Direction Sense To the extent that Parker or its subsidiaries or authorized distributors provide component or system options based upon data or speci- 5.3.3 Application fications provided by the user, the user is responsible for determining that such data and specifications are suitable and sufficient for all applications and reasonably foreseeable uses of the components or systems.
  • Page 3 Electrohydraulic Control Module Electrohydraulic Control Module Content Content Series PACHC Series PACHC 5.3.6 Pressure Sensors Stop (PACHC_Stop) 5.3.7 Force Transducer 6.6.1 Stop in Pressure/Force Control 5.3.8 Valves 6.6.2 Stop: Example 1 Optimization 6.6.3 Stop: Example 2 5.4.1 Controller Functions 6.6.4 Jerk Description 5.4.2 Position Controller...

  • Page 4: Preface

    Internet: www.parker.com/ISDE CE conformity E-Mail: valvesisde@parker.com Parker Hannifin Manufacturing Germany GmbH & Co. KG · Location: Bielefeld · Local Court: Bielefeld HRA 15699 UL certified Personally liable partner: Parker Hannifin GmbH · Location: Bielefeld · Local Court: Bielefeld HRB 35489 Manufacturer logo Management of Parker Hannifin GmbH: Dr.-Ing.

  • Page 5: Safety Instructions

    Ambient conditions must be within the admissible limits. Notes and infor- • Repairs must be carried out by specially trained Parker staff only. Warranty expires in every other case. mation in the associated documentation apply at all times.

  • Page 6: Electromagnetic Compatibility

    Electrohydraulic Control Module Electrohydraulic Control Module Electromagnetic Compatibility Electromagnetic Compatibility Series PACHC Series PACHC 2.4 Electromagnetic Compatibility Definition Location of installation Electromagnetic compatibility is the ability of a device to function satisfactorily in its electromagnetic environment Ensure that temperatures, contaminations, impact, vibration or electromagnetic interference are no impediment to without itself causing any electromagnetic interference that would be intolerable to other devices in this environment.

  • Page 7: System Description

    The PACHC is a controller module for high-dynamic and precise control of 1-2 hydraulic axes. It was developed for operation at the Parker Automation Controller (PAC). The device is an EtherCAT slave and is operated at the Parker E-Bus. In conjunction with the bus coupler PACIO-400-00 it can be used in a standard EtherCAT network.

  • Page 8: Indicators And Controls

    Electrohydraulic Control Module Electrohydraulic Control Module Device Description Operation Series PACHC Series PACHC 4.6 Indicators and Controls 5. Operation 4.6.1 Indicators This chapter describes the configuration and commissioning for the operation of the PACHC on a PAC module. The status LEDs indicate the status of the PACHC module. 5.1 Installation EtherCAT Run 5.1.1 Mechanical Installation...

  • Page 9: Electrical Installation

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.1.2 Electrical Installation 5.2 Development Environment CODESYS V3.5 Earthing Installing CODESYS V3.5 on the Project Engineering PC CODESYS V3.5 is based on a CODESYS V3 runtime system and is a device-independent system for programming Connect the PACHC modules to earth by attaching the metal housing to functional earth.

  • Page 10: Installing The Device Description

    The Library Repository dialog is displayed à - SM3_Drive_ETC_ParkerControl2.devdesc.xml The device can be found under ‘Field buses -> EtherCAT -> Slave -> Parker Hannifin – HydraulicControl’ The axes can be found in the tree ‘SoftMotion Drives ->EtherCAT Drives’ Figure: Library Repository Click on “Install”...

  • Page 11: Using The Project Templates

    Search device à • Select Parker Hannifin as vendor and select the Hydraulic Controller (PACHC-460-01). Then click “Add Device”. • The PACHC module will be added to the project tree and the required libraries will be installed. Additionally, A list with connected EtherCAT Slaves is displayed. If a slave is missing, make sure that it is connected and two axes with the name “Parker_HydraulicControl_x”...

  • Page 12: Communication

    PACHC supports device profile CiA 402: Device profile for drives and motion control. In addition to the objects ac- cording to CiA 402, further manufacturer-specific objects are implemented which are required for the functions of the Parker library PACHC. 5.2.7 Control Values For controlling the PACHC, control value like e.g.

  • Page 13: Unit

    In both cases an active project must be available on the PAC120/320 and the device must be in Status Run. A pro- All values are displayed, as far as meaningful, in physical units. Metric system with units bar, kg, m, mA, N and V gram example can be downloaded as template from the product homepage http://ph.parker.com/us/17581/en/hy- is used.

  • Page 14: Cylinder

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.3.4 Cylinder 5.3.5 Position Feedback System Encoders with the following interfaces can be used as position feedback system: • SSI Binary • SSI Gray Code • Encoder TTL •...

  • Page 15: Encoder Ttl / Encoder Htl / Encoder Rs422

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.3.5.2 Encoder TTL / Encoder HTL / Encoder RS422 5.3.5.4 EtherCAT Encoder It is possible to transmit the actual position also directly via the EtherCAT bus from EtherCAT Master to the PACHC. Note Please note that the actual value is delayed if the actual position is transmitted via the EtherCAT bus.

  • Page 16: Pressure Sensors

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.3.6 Pressure Sensors 5.3.7 Force Transducer Pressure sensors can be used for pressure or force control. If pressure sensors are used for force control, the result- To achieve a better control accuracy, a force transducer can be used for force control instead of pressure trans- ing force is calculated on the basis of cylinder area A and B and the pressures in the cylinder chambers pA and pB.

  • Page 17: Valves

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.3.8 Valves 5.4 Optimization For controlling a hydraulic axis, up to 4 valves can be operated at one PACHC. Within the application, various com- The optimization is used to adjust the control parameters and thus to optimize the movement of the drive. The dis- binations are possible.

  • Page 18: Position Controller

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.4.2 Position Controller 5.4.2.2 Setting Values 5.4.2.1 Controller Structure The position controller basically consists of a proportional controller with an integrator connected in parallel. To further reduce the tracking error, feed-forwards for velocity and acceleration are available. In addition, velocity and acceleration can be used as feedback.

  • Page 19: Force/Pressure Controller

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.4.3 Force/pressure Controller 5.4.3.2 Setting Values 5.4.3.1 Controller Structure The force/pressure controller is a PID controller with optional velocity feed-forward and force feed-forward. Like the position controller, the force controller includes additional limiting functions for the integrator. If the abso- lute value of the tracking error value is smaller than the outer window and larger than the inner window, the inte- grator command value is changed.

  • Page 20: Analogue Inputs

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.4.2 Analogue Inputs 5.4.3 Linearization To achieve a better signal quality, the analogue input signals can be filtered and controlled with an offset. Filter and Linearization follows to the controller output. It comprises a number of functions as briefly described below. The lin- offset are used in the actual value calculation.

  • Page 21: Command Signal Limitation

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.4.3.4 Command Signal Limitation 5.5 Monitoring and Error Handling To reduce axis velocity, the command signal range for valve control can be limited by means of the output limita- 5.5.1 Error Response tion.

  • Page 22: Dialogue Position Monitoring

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.5.6 Dialogue Position Monitoring 5.5.7 Settings Force/Pressure Control Maximum permissible tracking error Maximum permissible tracking error Tracking error window [µm] If the absolute value of the tracking error value exceeds this value, the tracking error time starts. If the Tracking error window [N or mbar] If the absolute value of the tracking error value exceeds this value, the tracking error time starts.

  • Page 23: Saving And Loading Parameters

    Electrohydraulic Control Module Electrohydraulic Control Module Installation Installation Series PACHC Series PACHC 5.6 Saving and Loading Parameters • Open “Recipe Definition” with double click and add as variables under ‘IoConfig_Globals’ the PACHC (Hydrau- The PACHC parameters can be saved and loaded via the Recipe Manager in CODESYS and on the PAC Control- lic_Controller_Parker_drives_PACHHC_460_01) and both axes (Parker_HydraulicControl_1 und Parker_Hydrau- ler.

  • Page 24: Programming

    Moreover, the controller is also supporting the 3S SoftMotion library. To use the SoftMotion library, the PAC must which is not allowed shall be done, an error is generated. have the necessary license (option). The function blocks from the Parker PACHC library do not require an addi- tional license.

  • Page 25: Setting Positioning And Force/Pressure

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.3.2 Setting Positioning and Force/Pressure 6.4 Activating the Drive (PACHC_Power) Within an IEC cycle, only one positioning, force or pressure function block may be activated! FB name PACHC_Power If 2 positioning function blocks are activated within a program run, it is not defined which one is executed.

  • Page 26: Stop (Pachc_Stop)

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.6 Stop (PACHC_Stop) 6.6.1 Stop in Pressure/Force Control If a position control is configured, PACHC_Stop.Execute = TRUE switches to position control. The axis is stopped FB name PACHC_Stop by the ramp which is defined via deceleration and jerk.

  • Page 27: Stop: Example

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.6.3 Stop: Example 2 6.7 Absolute Positioning (PACHC_MoveAbsolute) PACHC_MoveRelative PACHC_Stop FB name PACHC_MoveAbsolute Done ▬ ▬ Execute Done ▬ Start Execute StopAxis Absolute positioning to a preset position CommandAborted ▬...

  • Page 28: Relative Positioning (Pachc_Moverelative)

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC The following figure shows two examples from the combination of two PACHC_MoveRelative function blocks. The left part (a) of the time diagram shows the case if the second function block is executed after the first func- tion block.

  • Page 29: Setting Force/Pressure (Pachc_Pressureforceabsolute)

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.9 Setting Force/Pressure (PACHC_PressureForceAbsolute) Example FB name PACHC_PressureForceAbsolute The following figure shows two examples from the combination of two PACHC_MoveVelocity function blocks. Approach of a force command value (F = p Approach of a pressure command value (p or p The left part (a) of the time diagram shows the case if the second function block is executed after the first func-...

  • Page 30: Direct Positioning (Pachc_Directdynamicpositioning)

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.11 Direct Positioning (PACHC_DirectDynamicPositioning) 6.13 Positioning with Superimposed Force Positioning (PACHC_PositionForceAbsolute) FB name DirectDynamicPositioning FB name PACHC_ForceAbsolute Direct positioning to a preset absolute position Starts a positioning with superimposed force positioning VAR_INPUT VAR_INPUT Starts function block;...
  • Page 31 Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.14 Manual Operation (PACHC_Jog) 6.15 Manual Operation (PACHC_Jog_Force) FB name PACHC_Jog FB name PACHC_Jog_Force Travelling the axis in manual operation (in status “Standstill”) Force build-up of the axis in manual operation (in status “Standstill”) VAR_INPUT VAR_INPUT JogForward...

  • Page 32: Running Of A Target Profile (Pachc_Moveprofile)

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.17 Running of a Target Profile (PACHC_MoveProfile) 6.18 Synchronous Run of 2 Axes (PACHC_2Axes_Synchronization) FB name PACHC_MoveProfile FB name PACHC_2Axes_Synchronization Running of a preset profile Synchronized travelling of 2 axes to a preset position VAR_INPUT VAR_INPUT Enable...

  • Page 33: Synchronous Controller For 2 Axes (Pachc_2Axes_Synccontroller)

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.19 (PACHC_4Axes_Synchronization) 6.20 Synchronous Controller for 2 Axes (PACHC_2Axes_SyncController) Synchronized travelling of 4 axes FB-Name PACHC_4Axes_Synchronization FB name PACHC_2Axes_SyncController Synchronized travelling of 4 axes to a preset position The synchronous controller controls to the middle actual position of both axes VAR_INPUT VAR_INPUT...

  • Page 34: Synchronous Controller For 4 Axes (Pachc_4Axes_Synccontroller)

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.21 Synchronous Controller for 4 Axes (PACHC_4Axes_SyncController) 6.22 Writing Analogue Outputs (PACHC_Analog_Out) FB name PACHC_4Axes_SyncController FB name PACHC_Analog_Out The synchronous controller controls to the middle actual position of the 4 axes Allows the use of free (not configured) analogue outputs VAR_INPUT VAR_INPUT...

  • Page 35: Reading Actual Error Number (Pachc_Readaxiserror)

    Electrohydraulic Control Module Electrohydraulic Control Module Programming Programming Series PACHC Series PACHC 6.24 Reading Actual Error Number (PACHC_ReadAxisError) 6.26 Reading and Writing of Parameter Groups The parameter groups listed below can be read and written by setting the corresponding trigger variable = TRUE. FB name PACHC_ReadAxisError Shows the actual error number of the corresponding axis...

  • Page 36: Diagnosis

    Within the development environment CODESYS V3.5, it is possible to update the PACHC firmware, The current firmware can be found on the PACHC product page on parker.com. To update the firmware on the PACHC, the device must be connected with the PAC via the E-bus and your com- puter must be connected online to the PAC.

  • Page 37: Maintenance/Servicing

    Electrohydraulic Control Module Electrohydraulic Control Module Maintenance / Servicing Ordering Code / Technical Data Series PACHC Series PACHC 8. Maintenance / Servicing 9. Ordering Code 8.1 General Only qualified persons may work on PACHC. CAUTION Elektro- Hydraulic Type Design series hydraulic Controller Do not plug, unplug, mount or touch the connectors during operation.

  • Page 38: Accessories

    Voltage junction module (provides 0 VDC or 24 VDC connected to L1 or L2) NOTE The documentation for the Parker Automation Controller series PAC120 can be found on our homepage www.parker.com/ISDE under “Support”. The input and output data size of each 120 Bytes must not be exceeded.

  • Page 39: Axis And Device Parameter

    Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Axis and Device Parameter Parameter name Data type Default value Unit Description Parameter name Data type Default value Unit Description Axis name Axis name AccActualValueFiltered REAL mm/s Actual acceleration filtered TxPosDemandValue REAL Demand position...
  • Page 40 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Parameter name Data type Default value Unit Description Parameter name Data type Default value Unit Description Axis name Axis name ForceInputsignalType Signal type of output signal of force transducer PressureBSignalMin REAL V o.
  • Page 41 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC NamePACHC. AOut1_CtrlOutPosCtrlDirDepGainFactorPos REAL Gain pos. position controller analogue output 1 DeviceControlword UINT Device control word AOut1_CtrlOutUpperLimit REAL Upper limit analogue output 1 DeviceFWNumber STRING Version of firmware AOut1_CtrlOutZeroCorrectionOffset REAL Offset analogue output 1 DeviceHWNumber...

  • Page 42: Error Messages

    Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Error Messages Object list Error Description Error Number dez. Error Number hex. PACHC supports profil DS402 as well as hydraulic parameters of profil DS408. Module over temperature 16912 0x4210 Reso- Value...
  • Page 43 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 44 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 45 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 46 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 47 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 48 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 49 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 50 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 51 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 52 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 53 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...
  • Page 54 Electrohydraulic Control Module Electrohydraulic Control Module Appendix Appendix Series PACHC Series PACHC Reso- Value Save to Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit Index Group Plain Text Variable name Data type Access rights Unit lution range...

  • Page 55: Index

    Electrohydraulic Control Module Electrohydraulic Control Module Index Index Series PACHC Series PACHC Index Description Page Description Page Description Page Description Page Absolute positioning Error Monitoring maximum speed Status diagram Access to PACHC parameters Error handling Nonwarranty clause Status of the outputs Accessories Error messages Object list...
  • Page 56 © 2020 Parker Hannifin Corporation. All rights reserved. MSG11-5715-720/UK, 06/2020 EMEA Product Information Centre Free phone: 00 800 27 27 5374 (from AT, BE, CH, CZ, DE, DK, EE, ES, FI, FR, IE, IL, IS, IT, LU, MT, NL, NO, PL, PT, RU, SE, SK, UK, ZA)

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