Parker PACHC Series Operation Manual
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Parker PACHC Series Operation Manual

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

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  • Page 1 Electrohydraulic Control Module Series PACHC Operation Manual Bulletin MSG11-5715-720/UK...
  • Page 2 Parker or its subsidiaries or authorized distributors. To the extent that Parker or its subsidiaries or authorized distributors provide component or system options based upon data or specifications 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: Table Of Contents

    Electrohydraulic Control Module Content Series PACHC Preface Nonwarranty Clause Production Site Reference to Online Version Registered Trademark Copyright Introduction Device Assignment Type Specification Plate PACHC Safety Instructions 2.3.1 Target Group of this Operation Manual 2.3.2 Hazard and other Warnings 2.3.3 General Hazards 2.3.4 Designated Use...
  • Page 4 Electrohydraulic Control Module Content Series PACHC Optimization 5.4.1 Controller Functions 5.4.2 Position Controller 5.4.2.1 Controller Structure 5.4.2.2 Setting Values 5.4.3 Force/Pressure Controller 5.4.3.1 Controller Structure 5.4.3.2 Setting Values 5.4.4 Analogue Inputs 5.4.5 Linearization 5.4.5.1 Direction-dependent Gain 5.4.5.2 Inversion 5.4.5.3 Deadband Compensation 5.4.5.4 Command Signal Limitation 5.4.5.5...
  • Page 5 Electrohydraulic Control Module Content Series PACHC Absolute Positioning (PACHC_MoveAbsolute) Relative Positioning (PACHC_MoveRelative) Setting Force/Pressure (PACHC_PressureForceAbsolute) 6.10 Endless Positioning (PACHC_MoveVelocity) 6.11 Direct Positioning (PACHC_DirectDynamicPositioning) 6.12 Direct Approaching of a Pressure, Force Target Value (PACHC_DirectDynamicPressureForce) 6.13 Positioning with Superimposed Force Positioning (PACHC_PositionForceAbsolute) 6.14 Manual Operation (PACHC_Jog) 6.15...

  • Page 6: Preface

    Internet: www.parker.com/ISDE E-Mail: valvesisde@parker.com Parker Hannifin Manufacturing Germany GmbH & Co. KG · Location: Bielefeld · Local Court: Bielefeld HRA 15699 Personally liable partner: Parker Hannifin GmbH · Location: Bielefeld · Local Court: Bielefeld HRB 35489 Management of Parker Hannifin GmbH: Ulrich Jochem, Achim Kohler, Kirsten Stenvers, Andreas Paulsen Chairman of the Supervisory Board: Dr.-Ing.

  • Page 7: Introduction

    Electrohydraulic Control Module Preface Series PACHC 2 Introduction 2.1 Device Assignment This manual is valid for the following device: • PACHC 2.2 Type Specification Plate PACHC You will find the exact description of the device on the type specification plate: Explanation of the type specification plate EtherCAT logo QR code...

  • Page 8: Safety Instructions

    2.3.4 Designated Use Parker’s products are designed, developed and manufactured for standard industrial use. They must not be used for any other purposes than the ones specified in the catalogue or the associated technical documentation. Prop- er and safe operation depends on the products being transported, stored, lined up, mounted, installed, put into ser- vice, operated, and serviced correctly.

  • Page 9: Safety-Conscious Working

    § 8 (Admissible deviations when working on parts) in particular. • Repairs must be carried out by specially trained Parker staff only. Warranty expires in every other case. • Only use parts approved of by Parker. Only genuine Parker modules must be used in modular controllers.

  • Page 10: Electromagnetic Compatibility

    Electrohydraulic Control Module Electromagnetic Compatibility Series PACHC 2.4 Electromagnetic Compatibility Definition Electromagnetic compatibility is the ability of a device to function satisfactorily in its electromagnetic environment without itself causing any electromagnetic interference that would be intolerable to other devices in this environment. Of all known phenomena of electromagnetic noise, only a certain range occurs at the location of a given device.
  • Page 11 Electrohydraulic Control Module Electromagnetic Compatibility Series PACHC Location of installation Ensure that temperatures, contaminations, impact, vibration or electromagnetic interference are no impediment to the installation. Temperature Consider heat sources such as general heating of rooms, sunlight, heat accumulation in assembly rooms or con- trol cabinets.

  • Page 12: 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 Park- er E-Bus. In conjunction with the bus coupler PACIO-400-00 it can be used in a standard EtherCAT network.

  • Page 13: Front And Side View

    Electrohydraulic Control Module Device Description Series PACHC 4.4 Front and Side View 4.5 Connectors While all external connectors plug in at the front of the unit, the connection to a PAC120/PAC340 system is via the EtherCAT E-bus interface on the left side. Additional PACHC and PACIO modules can be connected via the right EtherCAT E-bus interface under the removable cover.

  • Page 14: Indicators And Controls

    Electrohydraulic Control Module Device Description Series PACHC 4.6 Indicators and Controls 4.6.1 Indicators The status LEDs indicate the status of the PACHC module. EtherCAT Run Status LED flash code Explanation Init Status: Initialising, no data exchange Pre-Op off/green 1:1 Status: Pre-operational, no data exchange Safe-Op off/green 5:1 Safe operation, inputs readable...

  • Page 15: Operation

    Electrohydraulic Control Module Operation Series PACHC 5. Operation This chapter describes the configuration and commissioning for the operation of the PACHC on a PAC module. 5.1 Installation 5.1.1 Mechanical Installation PAC120 / PACHC / PACIO modules are intended for mounting rail installa- à...
  • Page 16 Electrohydraulic Control Module Installation Series PACHC Installation position The mounting rail is mounted horizontally, the socket connectors of the modules face forward. To ensure sufficient ventilation through the convection slits of the modules, the minimum distance of 20 mm upwards and 35 mm down- wards to neighbouring units and control cabinet surfaces must not be undercut.

  • Page 17: Electrical Installation

    Electrohydraulic Control Module Installation Series PACHC 5.1.2 Electrical Installation CAUTION Dangerous failures due to incorrect power supply The unit can be damaged or destroyed by an incorrect voltage supply and dangerous failures can occur. Measures to avoid: à For the 24 V DC supply of controllers or bus couplers, we recommend using PELV/SELV-capable power supply units in ac- cordance with EN50178 or EN60950-1.

  • Page 18: Development Environment Codesys V3.5

    Electrohydraulic Control Module Installation Series PACHC Module interconnection The PACHC modules electrically connect by completely pushing the modules together. This automatically connects them to the EtherCAT bus system and supplies power to the EtherCAT communication modules. PAC120 is always the first module of a PACHC/PACIO block. Please note that the power supplied by PAC120 limits the number of PAC modules you may connect to a single block.

  • Page 19: Installing The Device Description

    à Select the package file on your computer and click on Open. The PAC120+PACHC package can be found on the product homepage http://www.parker.com/PAC120 The sample programs (templates) can be opened under "New Project" after the package has been installed. The corresponding tree structure with the associated devices is already preconfigured in the templates.

  • Page 20: Installing Device-Specific Libraries

    Electrohydraulic Control Module Installation Series PACHC 5.2.2 Installing Device-specific Libraries Similar to the device description files, CODESYS keeps libraries in a dedicated repository, i.e. the Library Reposito- ry in this case. The following device-specific libraries are available for PACHC: - PKR_PACHC - SM3_Drive_ETC_Parker_HydraulicControl_Itfs Open the Tools menu and pick Library Repository à...

  • Page 21: Using The Project Templates

    Series PACHC 5.2.3 Using the Project Templates The PAC120HC package on the Parker website for the PAC contains project templates for various applications that can be used as a starting point for your own programme development. The templates from the PAC120HC package are displayed under File New Project.

  • Page 22: Adding Pachc (Offline)

    Select option “Add Device” • 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, two axes with the name “Parker_HydraulicControl_x”...

  • Page 23: 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. 5.2.6 Control Values For controlling the PACHC, control value like e.g.

  • Page 24: Configuration

    Electrohydraulic Control Module Installation Series PACHC 5.3 Configuration Configuration and setup of the hydraulic axes connected to the PACHC is carried out via the PACHC_Setup visuali- zation page. When using the sample programs as described in Chapter 5.2.1, the PACHC_Setup visualization page is already created (in a sample program with two PACHC modules, two pages, PACHC_Setup_1 and PACHC_Se- tup_2, are created accordingly).
  • Page 25 Electrohydraulic Control Module Installation Series PACHC The configuration interface can be used either within CODESYS or via a standard web browser. To use the configuration page within CODESYS, connect to the PAC120/340 and open the inserted visualization from the project tree with a double-click. In the web browser, enter the IP address '8080/name_of_website.htm' to launch the configuration page.
  • Page 26 Series PACHC In both cases, there must be an active project on the PAC120/340 and the device must be in the Run status. An ex- ample program can be loaded as a template from the product homepage https://ph.parker.com/de/de/electrohyd- raulic-control-module-series-pachc. To start configuring the PACHC, click the "Configuration" button.

  • Page 27: Unit

    Electrohydraulic Control Module Installation Series PACHC 5.3.1 Unit All values are displayed, as far as meaningful, in physical units. Metric system with units bar, kg, m, mA, N and V is used. 5.3.2 Direction Sense The direction sense of the PACHC was defined that the cylinder extends at increasing displacement signal. For this purpose, one volume flow is directed to the larger area of cylinder (A) and a volume flow drains from the smaller area (B).

  • Page 28: Cylinder

    Electrohydraulic Control Module Installation Series PACHC 5.3.4 Cylinder Piston diameter [mm] Value indicates piston diameter of the cylinder. Rod diameter A [mm] Value indicates rod diameter on the side with larger cylinder area. For differential cylinders value is zero. Rod diameter B [mm] Value indicates rod diameter on the side with smaller cylinder area.

  • Page 29: Position Feedback System

    Electrohydraulic Control Module Installation Series PACHC 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 • Encoder HTL • Encoder RS422 • EnDat 2.2 •...

  • Page 30: Encoder Ttl / Encoder Htl / Encoder Rs422

    Electrohydraulic Control Module Installation Series PACHC 5.3.5.2 Encoder TTL / Encoder HTL / Encoder RS422 Indicates the conversion factor length unit per increment of the position feedback system. With encod- Resolution ers TTL and HTL, PACHC analyzes all 4 edges of the measuring tracks and calculates the sensor sig- nal internally with a four times higher resolution.

  • Page 31: Ethercat Encoder

    Electrohydraulic Control Module Installation Series PACHC 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. This delay has a negative impact on the overall dynamic of the control axis and thus on the position and/or force/pressure control.

  • Page 32: Pressure Sensors

    Electrohydraulic Control Module Installation Series PACHC 5.3.6 Pressure Sensors Pressure sensors can be used for pressure or force control. If pressure sensors are used for force control, the result- ing force is calculated on the basis of cylinder area A and B and the pressures in the cylinder chambers pA and pB. Up to 4 pressure sensors per axis can be parameterized.

  • Page 33: Force Transducer

    Electrohydraulic Control Module Installation Series PACHC 5.3.7 Force Transducer To achieve a better control accuracy, a force transducer can be used for force control instead of pressure transduc- ers. If a force transducer is parameterized, it is used for calculation the actual force. In this case the pressures of the optional pressure transducers are no longer used for the actual force calculation.

  • Page 34: Valves

    Electrohydraulic Control Module Installation Series PACHC 5.3.8 Valves For controlling a hydraulic axis, up to 4 valves can be operated at one PACHC. Within the application, various com- binations are possible. For example, a drive can be controlled with different valves for piston and rod side or for po- sition and force/pressure control.

  • Page 35: Optimization

    Electrohydraulic Control Module Installation Series PACHC 5.4 Optimization The optimization is used to adjust the control parameters and thus to optimize the movement of the drive. The dis- play is switched via the button “Optimization”. The function to be optimized can be selected with the left-side buttons and the corresponding parameter list is dis- played.

  • Page 36: Position Controller

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

  • Page 37: Setting Values

    Electrohydraulic Control Module Installation Series PACHC 5.4.2.2 Setting Values P-Part [%/mm] Proportional controller gain Kp I-Part [%/(s*mm)] Integral controller gain Ki Inner tracking error window for the I-Part Inner window I-Part [mm] If the absolute value of the tracking error value is smaller than this value, the command value part of the integrator is not changed anymore.

  • Page 38: Force/Pressure Controller

    Electrohydraulic Control Module Installation Series PACHC 5.4.3 Force/pressure Controller 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 integra- tor command value is changed.

  • Page 39: Setting Values

    Electrohydraulic Control Module Installation Series PACHC 5.4.3.2 Setting Values P-Part [%/N] Proportional controller gain I-Part [%/(s*N)] Integral controller gain D-Part [%/(s*N)] Differentiating controller gain Time constant of the D-Part Td [µs] This value defines how fast the differentiating command value part of the controller is reduced. Inner tracking error window for the I-Part Inner window I-Part [N] If the absolute value of the tracking error value is smaller than this value, the command value part of...

  • Page 40: Analogue Inputs

    Electrohydraulic Control Module Installation Series PACHC 5.4.4 Analogue Inputs To achieve a better signal quality, the analogue input signals can be filtered and controlled with an offset. Filter and offset are used in the actual value calculation. The value’AlnX_AlnAcutualValue” includes the unfiltered value with- out offset.

  • Page 41: Linearization

    Electrohydraulic Control Module Installation Series PACHC 5.4.5 Linearization Linearization follows to the controller output. It comprises a number of functions as briefly described below. The lin- earization functions are separately available for each valve output. All settings have to be set individually for each valve output used.

  • Page 42: Command Signal Limitation

    Electrohydraulic Control Module Installation Series PACHC 5.4.5.4 Command Signal Limitation To reduce axis velocity, the command signal range for valve control can be limited by means of the output limita- tion. Particularly during initial commissioning, a temporary limitation of the valve command value is useful to prevent damage to the drive.

  • Page 43: Monitoring And Error Handling

    Electrohydraulic Control Module Installation Series PACHC 5.5 Monitoring and Error Handling 5.5.1 Error Response PACHC is monitoring a number of internal and external errors. A complete list with all errors can be found in the ap- pendix. In the configuration and also via the function block 'PACHC_SetErrorReaction' in the IEC program, error re- sponses to the different errors can be set.

  • Page 44: Dialogue Position Monitoring

    Electrohydraulic Control Module Installation Series PACHC 5.5.6 Dialogue Position Monitoring 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 absolute value of the tracking error value undercuts this value the time is reset. Tracking error time [ms] Time to expire before a tracking error is triggered.

  • Page 45: Settings Force/Pressure Control

    Electrohydraulic Control Module Installation Series PACHC 5.5.7 Settings Force/Pressure Control Maximum permissible tracking error Tracking error window [N or mbar] If the absolute value of the tracking error value exceeds this value, the tracking error time starts. If the tracking error value undercuts this value, the time is reset. Tracking error time [ms] Time to expire before a tracking error is triggered.

  • Page 46: Commissioning

    Electrohydraulic Control Module Installation Series PACHC 5.6 Commissioning The commissioning function can be used to support commissioning for position, force or pressure control. The commissioning function is available for position and for pressure/force control. PACHC 5715-720UK.indd 17.02.23...
  • Page 47 Electrohydraulic Control Module Installation Series PACHC Position: Values for manual operation (jog), for positioning between two positions with waiting time and for setting the zero point of the axis can be set. The control and regulation parameters are set under Optimization in order to optimize the movement of the drive (see chapter 5.4 Optimization).
  • Page 48 Electrohydraulic Control Module Installation Series PACHC Force/Pressure: Same as position, only the settings for the test movement are force/pressure and not position. Setup Mode On/Off Starts or stops the setup mode Power Controller is energised, changes from Power Off to Standstill Stop Controller changes to stop Jog-...

  • Page 49: Saving And Loading Parameters

    Electrohydraulic Control Module Installation Series PACHC 5.7 Saving and Loading Parameters The PACHC parameters can be saved and loaded via the Recipe Manager in CODESYS and on the PAC Control- ler. To this, add the Recipe Manager and a Recipe Definition to the object tree. •...

  • Page 50: Typical Procedure For Controller Commissioning

    Electrohydraulic Control Module Installation Series PACHC • Open “Recipe Definition” with double click and add as variables under ‘IoConfig_Globals’ the PACHC (Hydrau- lic_Controller_Parker_drives_PACHHC_460_01) and both axes (Parker_HydraulicControl_1 und Parker_Hy- draulicControl_2) For further details regarding usage of recipes see CODESYS Help. 5.8 Typical Procedure for Controller Commissioning •...

  • Page 51: Programming

    Moreover, the controller is also supporting the 3S SoftMotion library. To use the SoftMotion library, the PAC must have the necessary license (option). The function blocks from the Parker PACHC library do not require an additional license. 6.1 PACHC Library...
  • Page 52 Electrohydraulic Control Module Programming Series PACHC To select a function block, add a function block to your program and press function button F2 to open the input as- sistant. In the input assistant all function blocks can be found under 'PACHC-POUs'. PACHC 5715-720UK.indd 17.02.23...

  • Page 53: Plcopen Motion Control

    Electrohydraulic Control Module Programming Series PACHC 6.2 PLCopen Motion Control PACHC is supporting the manufacturer-independent standard for motion control according to PLCopen Motion Control. In this standard, function blocks for motion control and any related status transitions are described. 6.2.1 Status Diagram In the PLCopen standard the device behavior is described by means of a status diagram.

  • Page 54: Setting Positioning And Force/Pressure

    Electrohydraulic Control Module Programming Series PACHC 6.3.2 Setting Positioning and Force/Pressure Within an IEC cycle, only one positioning, force or pressure function block may be activated! If 2 positioning function blocks are activated within a program run, it is not defined which one is executed. 6.3.3 Dynamic Switching from Position to Force/Pressure Control Depending on the selected motion function block, it is switched automatically via PACHC between position and force/ pressure control.
  • Page 55 Electrohydraulic Control Module Programming Series PACHC 6.4 Activating the Drive (PACHC_Power) FB name PACHC_Power Transition to status “Standstill: disable” resp. “Standstill: powered VAR_INPUT Activates the function block; Enable BOOL a rising edge on input activates the drive, a falling edge deactivates the drive and ramps the velocity to zero.
  • Page 56 Electrohydraulic Control Module Programming Series PACHC 6.6 Stop (PACHC_Stop) FB name PACHC_Stop Stop actual movement Please note: only one PACHC_Stop instance per axis is permitted! VAR_INPUT Execute BOOL Stops movement Deceleration value (always positive) [mm/s²] Note: Deceleration UDINT the configured PACHC_Stop deceleration ramp is limited. The PACHC_Stop deceleration ramp will not be smaller than the deceleration set in the last movement set.

  • Page 57: Stop (Pachc_Stop)

    Electrohydraulic Control Module Programming Series PACHC 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 by the ramp which is defined via deceleration and jerk. If no position control is defined, PACHC_Stop has no function. Set axis by presetting a demand force resp. demand pressure into a stop status.

  • Page 58: Stop: Example

    Electrohydraulic Control Module Programming Series PACHC 6.6.3 Stop: Example 2 PACHC_MoveRelative PACHC_Stop Start Execute Done ▬ StopAxis ▬ Execute Done ▬ Distance CommandAborted ▬ ▬ Deceleration Error ▬ Velocity Error ▬ 4000 ▬ Jerk Acceleration Axis0 ▬ Axis Deceleration 1000 Jerk 1000 JerkDecel...

  • Page 59: Absolute Positioning (Pachc_Moveabsolute)

    Electrohydraulic Control Module Programming Series PACHC 6.7 Absolute Positioning (PACHC_MoveAbsolute) FB name PACHC_MoveAbsolute Absolute positioning to a preset position VAR_INPUT Execute BOOL Starts function block sequence with positive edge Position REAL Absolute target position of the movement to be executed [mm] (positive and negative direction) Velocity REAL Value of maximum velocity (always positive) (not necessarily reached) [mm/s...

  • Page 60: Relative Positioning (Pachc_Moverelative)

    Electrohydraulic Control Module Programming Series PACHC 6.8 Relative Positioning (PACHC_MoveRelative) FB name PACHC_MC_MoveRelative Relative positioning by a preset distance VAR_INPUT Execute BOOL Starts function block sequence with positive edge Distance REAL Relative distance of the movement to be executed [mm] Velocity REAL Value of maximum velocity (always positive) (not necessarily reached) [mm/s²]...
  • Page 61 Electrohydraulic Control Module Programming 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 function block.

  • Page 62: Setting Force/Pressure (Pachc_Pressureforceabsolute)

    Electrohydraulic Control Module Programming Series PACHC 6.9 Setting Force/Pressure (PACHC_PressureForceAbsolute) FB name PACHC_PressureForceAbsolute Approach of a force command value (F = p Approach of a pressure command value (p or p Selection is made in the configuration VAR_INPUT Execute BOOL Starts function block sequence with positive edge PressureForce REAL...
  • Page 63 Electrohydraulic Control Module Programming Series PACHC Example The following figure shows two examples from the combination of two PACHC_MoveVelocity function blocks. The left part (a) of the time diagram shows the case if the second function block is executed after the first function block.

  • Page 64: Direct Positioning (Pachc_Directdynamicpositioning)

    Electrohydraulic Control Module Programming Series PACHC 6.11 Direct Positioning (PACHC_DirectDynamicPositioning) FB name DirectDynamicPositioning Direct positioning to a preset absolute position VAR_INPUT Starts function block; Enable BOOL a rising edge at the input activates the positioning, a falling edge deactivates the movement Absolute target position of the movement to be executed (configured unit [Units]) (positive and Position REAL...

  • Page 65: Positioning With Superimposed Force Positioning (Pachc_Positionforceabsolute)

    Electrohydraulic Control Module Programming Series PACHC 6.13 Positioning with superimposed Force Positioning (PACHC_PositionForceAbsolute) FB name PACHC_PositionForceAbsolute Starts a positioning with superimposed force positioning VAR_INPUT Enable BOOL Starts function block at positive edge Position REAL Absolute target position of the movement to be executed (positive and negative direction) [mm] Velocity REAL Maximum velocity value (always positive) (not necessarily reached) [mm/s]...

  • Page 66: Manual Operation (Pachc_Jog)

    Electrohydraulic Control Module Programming Series PACHC 6.14 Manual Operation (PACHC_Jog) FB name PACHC_Jog Travelling the axis in manual operation (in status “Standstill”) VAR_INPUT JogForward BOOL With JogForward = TRUE the axis travels in positive direction JogBackward BOOL With JogBackward = TRUE the axis travels in negative direction Velocity REAL Velocity value [mm/s]...

  • Page 67: Manual Operation (Pachc_Jog_Force)

    Electrohydraulic Control Module Programming Series PACHC 6.15 Manual Operation (PACHC_Jog_Force) FB name PACHC_Jog_Force Force build-up of the axis in manual operation (in status “Standstill”) VAR_INPUT JogForward BOOL With JogForward = TRUE a positive force is build up JogBackward BOOL With JogBackward = TRUE a negative force is build up Gradient REAL Rate of change force in [N/s]...
  • Page 68 Electrohydraulic Control Module Programming Series PACHC 6.16 Machine Reference Point/Homing (PACHC_Home) FB name PACHC_Home Setting the machine reference point (in status 'Standstill') VAR_INPUT Execute BOOL Starts function block at positive edge 35: Sets machine zero in the current position Mode SINT -1: Positioning in positive direction -2: Positioning in negative direction...

  • Page 69: Adjusting The Profile Of The Actual Position To The Target Profile (Pachc_Moveprofileadjustment)

    Electrohydraulic Control Module Programming Series PACHC 6.17 Running of a Target Profile (PACHC_MoveProfile) FB name PACHC_MoveProfile Traversing a given position profile VAR_INPUT Enable BOOL Starts the sequence of the function block with a rising edge Amplitude REAL Position setpoint in ± [mm] Frequency REAL Speed in [Hz]...

  • Page 70: Traversing A Given Pressure/Force Profile (Pachc_Pressureforceprofile)

    Electrohydraulic Control Module Programming Series PACHC 6.19 Traversing a given pressure/force profile (PACHC_PressureForceProfile) FB-Name PACHC_PressureForceProfile Traversing a given pressure/force profile VAR_INPUT Enable BOOL Starts the sequence of the block with a positive edge Amplitude REAL Pressure/force setpoint in [bar or N] Frequency REAL Pressure ramp in [Hz]...

  • Page 71: Synchronous Run Of 2 Axes (Pachc_2Axes_Synchronization)

    Electrohydraulic Control Module Programming Series PACHC 6.21 Synchronous Run of 2 Axes (PACHC_2Axes_Synchronization) FB name PACHC_2Axes_Synchronization Synchronized travelling of 2 axes to a preset position VAR_INPUT Execute BOOL Starts function block at positive edge Absolute target position of the movement to be executed (configured unit) [mm] (positive and Position REAL negative direction)

  • Page 72: Synchronous Run Of 4 Axes (Pachc_4Axes_Synchronization)

    Electrohydraulic Control Module Programming Series PACHC 6.22 (PACHC_4Axes_Synchronization) Synchronized run of 4 axes FB-Name PACHC_4Axes_Synchronization Synchronized travelling of 4 axes to a preset position VAR_INPUT Execute BOOL Starts function block at positive edge Absolute target position of the movement to be executed (configured unit) (positive and neg- Position REAL ative direction) [mm]...

  • Page 73: Synchronous Controller For 2 Axes (Pachc_2Axes_Synccontroller)

    Electrohydraulic Control Module Programming Series PACHC 6.23 Synchronous Controller for 2 Axes (PACHC_2Axes_SyncController) FB name PACHC_2Axes_SyncController The synchronous controller controls to the middle actual position of both axes VAR_INPUT Enable BOOL Starts function block at positive edge REAL Proportional gain synchronous controller [%/mm] REAL Gain integrator of the synchronous controller [%/(mm*s)] Yi_InnerWindow...

  • Page 74: Synchronous Controller For 4 Axes (Pachc_4Axes_Synccontroller)

    Electrohydraulic Control Module Programming Series PACHC 6.24 Synchronous Controller for 4 Axes (PACHC_4Axes_SyncController) FB name PACHC_4Axes_SyncController The synchronous controller controls to the middle actual position of the 4 axes VAR_INPUT Enable BOOL Starts function block at positive edge REAL Proportional gain synchronous controller [%/mm] REAL Gain integrator of the synchronous controller [%/(mm*s)] Yi_InnerWindow...

  • Page 75: Writing Analogue Outputs (Pachc_Analog_Out)

    Electrohydraulic Control Module Programming Series PACHC 6.25 Writing Analogue Outputs (PACHC_Analog_Out) FB name PACHC_Analog_Out Allows the use of free (not configured) analogue outputs VAR_INPUT Enable_Out0 BOOL Starts Out0 of the function block at positive edge Out0 REAL Specification of the analogue value [%] Enable_Out1 BOOL Starts Out1 of the function block at positive edge...

  • Page 76: Test Movement Between 2 Positions, With Set Speed And Waiting Time (Pachc_Testmovement)

    Electrohydraulic Control Module Programming Series PACHC 6.27 Test movement between 2 positions, with set speed and waiting time (PACHC_TestMovement) FB-Name PACHC_TestMovement Test movement between 2 positions, with set speed and waiting time VAR_INPUT Enable BOOL Starts the sequence of the block with a rising edge Position1 REAL Absolute target position1 [mm], positive or negative...

  • Page 77: Test Movement Between 2 Forces Or Pressures, With Defined Force/Pressure Gradient And Waiting Time

    Electrohydraulic Control Module Programming Series PACHC 6.28 Test movement between 2 forces or pressures, with defined force/pressure gradient and waiting time (PACHC_TestMovement_Force) FB-Name PACHC_TestMovement_Force Test movement between 2 forces or pressures, with defined force/pressure gradient and waiting time VAR_INPUT Enable BOOL Starts the sequence of the block with a rising edge Absolute target force1 [N], positive or negative...

  • Page 78: Calculates The Minimum, Maximum And Average Position Of Both Axes (Pachc_2Axes_Calcposition)

    Electrohydraulic Control Module Programming Series PACHC 6.29 Calculates the minimum, maximum and average position of both axes (PACHC_2Axes_CalcPosition) FB-Name PACHC_2Axes_CalcPosition Calculates the minimum, maximum and average position of both axes VAR_INPUT Execute BOOL Starts the sequence of the function block with a rising edge Axis0 PACHC_AXIS_REF Axis reference0 (name of the drive in the device tree)

  • Page 79: Reading Actual Error Number (Pachc_Readaxiserror)

    Electrohydraulic Control Module Programming Series PACHC 6.31 Reading Actual Error Number (PACHC_ReadAxisError) FB name PACHC_ReadAxisError Shows the actual error number of the corresponding axis VAR_INPUT Enable BOOL Starts error reading Axis PACHC_AXIS_REF Axis reference (name of drive in device tree) VAR_OUTPUT Done BOOL...

  • Page 80: Reading And Writing Of Parameter Groups

    Electrohydraulic Control Module Programming Series PACHC 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. Parameter Group Variable Reading All parameters Axisname.Configuration.b_StartSDOUpload Writing Position controller Axisname.Configuration.b_StartDownloadPosCtrlParameter Force controller Axisname.Configuration.b_StartDownloadFCtrlParameter...

  • Page 81: 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 comput- er must be connected online to the PAC.
  • Page 82 Electrohydraulic Control Module Diagnosis Series PACHC 4. Select Download and then the firmware file *.efw. Password is 1234. 5. Restart device with „Reset warm“. PACHC 5715-720UK.indd 17.02.23...

  • Page 83: Maintenance/Servicing

    Electrohydraulic Control Module Maintenance / Servicing Series PACHC 8. Maintenance / Servicing 8.1 General Only qualified persons may work on PACHC. CAUTION Do not plug, unplug, mount or touch the connectors during operation. Doing so may destroy the unit or provoke malfunctions Before working on the unit, turn off all power sources including those feeding power to peripherals such as externally fed sen- à...

  • Page 84: Ordering Code

    Design series hydraulic Controller controller 10. Technical Data Allgemein Function Controller module with EtherCAT slave function for operation at Parker Automa- tion Controller Housing / protection class Aluminium strap, plastic, IP20 Mounting 35 mm DIN rail Mounting position Vertical, stackable...

  • Page 85: Accessories

    PACIO-443-06 PACIO AI8 Thermocouple 16 Bit PACIO-443-57 PACIO AI4-Pt/Ni/Thermo 16 Bit CoE PACIO-443-58 PACIO AI8-Pt/Ni/Thermo 16 Bit CoE NOTE The documentation for the Parker Automation Controller series PAC120 can be found on our homepage www.parker.com/ISDE under “Support”. PACHC 5715-720UK.indd 17.02.23...

  • Page 86: Appendix

    Electrohydraulic Control Module Appendix Series PACHC 12. Appendix Mapping PACHC has a predefined mapping containing all necessary parameters for the function blocks of the PACHC libra- ry. Only those values included in the mapping are updated in the EtherCAT cycle. Those values which are not in- cluded can be read and written via the Service Data Objects (SDO).

  • Page 87: Axis And Device Parameter

    Electrohydraulic Control Module Appendix Series PACHC Axis and Device Parameter Parameter name Data type Default value Unit Description Axis name AccActualValueFiltered REAL mm/s Actual acceleration filtered ActualValueP0 REAL Actual supply pressure ActualValuePT REAL Actual tank pressure ActValueCondPosOffset REAL Position offset (Homing) Demand value jerk CommandOnRequest UINT Actual axis command...
  • Page 88 Electrohydraulic Control Module Appendix Series PACHC Parameter name Data type Default value Unit Description Axis name TxPosDemandValue REAL Demand position TxPosFollowingErrorActualValue REAL Following error position TxStatusword UINT Status word of axis TxTorqueActualValue N or bar Actual force/pressure TxVelActualValue REAL mm/s Actual velocity TxVelActualValueFiltered REAL...
  • Page 89 Electrohydraulic Control Module Appendix Series PACHC Parameter name Data type Default value Unit Description Axis name ForceForceMax REAL N oder bar Maximal force of force transducer ForceForceMin REAL N oder bar Minimal force of force transducer ForceInputsignalType Signal type of output signal of force transducer ForceInterface Analogue interface of force transducer ForcePressureCtrlType...
  • Page 90 Electrohydraulic Control Module Appendix Series PACHC Parameter name Data type Default value Unit Description Axis name PressureBSignalMin REAL V o. mA Minimal output signal of transducer Constant pressure if no transducer for pP con- PressurePInactivePressure REAL nected PressurePInputsignalType Signal type of output signal of transducer PressurePInterface Analogue interface of transducer PressurePPressureMax...
  • Page 91 Electrohydraulic Control Module Appendix Series PACHC NamePACHC. DeviceControlword UINT Device control word DeviceFWNumber STRING Version of firmware DeviceHWNumber STRING Version of hardware DeviceManufacturingDate STRING Manufacturing date DeviceSerialNumber STRING Serial number DeviceSetErrorNo UINT Error code DeviceSetErrorReaction USINT Error reaction DeviceStatusword UINT Device status word DeviceTemperatur REAL...
  • Page 92 Electrohydraulic Control Module Appendix Series PACHC AOut1_CtrlOutInvertingSign SINT Inversion analogue output 1 AOut1_CtrlOutLowerLimit REAL -100 Lower limit analogue output 1 AOut1_CtrlOutPosCtrlDirDepGainFactorNeg REAL Gain neg. position controller analogue output 1 AOut1_CtrlOutPosCtrlDirDepGainFactorPos REAL Gain pos. position controller analogue output 1 AOut1_CtrlOutUpperLimit REAL Upper limit analogue output 1 AOut1_CtrlOutZeroCorrectionOffset REAL...

  • Page 93: Error Messages

    Electrohydraulic Control Module Appendix Series PACHC Error Messages Error Description Error Number dez. Error Number hex. Module over temperature 16912 0x4210 Module under voltage 20754 0x5112 Power supply error Encoder feedback 0 20755 0x5113 Analogue input 0 signal below limit 21041 0x5231 Analogue input 1 signal below limit...

  • Page 94: Object List

    Electrohydraulic Control Module Appendix Series PACHC Object list PACHC supports profil DS402 as well as hydraulic parameters of profil DS408. Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash 1008 0 device Device Name s_DeviceName STRING...
  • Page 95 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash 2005 63 device Error time 31 2005 64 device Error code 31 UNSIGNED16 READ 2005 44 device Error code 21 UNSIGNED16 READ 2005 43 device...
  • Page 96 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash pressure Actual value conditioning axis0_f_ActValueCond- 2106 sensor FLOAT READWRITE 0.001 min pressure pB 0 MinPB config0 pressure Actual value conditioning axis0_f_ActValueCond-...
  • Page 97 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash force 2203 Max force range 0 axis0_f_MaxFRange FLOAT READWRITE sensor0 Hydraulic 2300 System pressure 0 Axis0_f_SystemPressure FLOAT READWRITE system0...
  • Page 98 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash pressu- Actual value conditioning Axis1_ActValueCondConst- 2912 re sensor FLOAT READWRITE const pressure pT 1 TransducerSignalPT config1 pressu- Actual value conditioning Axis1_ActValueCondConst-...
  • Page 99 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash position Position controller outer axis0_f_PosCtrlOuterWin- 3003 control- FLOAT READWRITE 0.001 window I part 0 dowIPart ler0 position Position controller positive axis0_f_PosCtrlPosLim-...
  • Page 100 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash position- Position encoder actual axis0_u8_PosEncoderAc- 3104 UNSIGNED8 READ ing0 value track A/B/Ref 0 tualValueTrackABRef open 3200 Open loop setpoint 0 axis0_f_OpenLoopSetpoint FLOAT READWRITE...
  • Page 101 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash pressure Pressure window moni- 3600 monitor- axis0_f_FWindow FLOAT READWRITE toring 0 ing0 pressure Pressure window monitor- 3601 monitor- axis0_u16_FWindowTime...
  • Page 102 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash position Position controller output 380C control- axis1_u32_PosCtrlOutFilter UNSIGNED32 READWRITE 1e-6 filter 1 ler1 position Position controller actu- axis1_f_PosCtrlActuating- 3850 control-...
  • Page 103 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash pressure Pressure controller feed axis1_f_FCtrlFeedFor- 3D08 control- FLOAT READWRITE 0.001 forward 1 wardKfs ler1 pressure Pressure controller veloci- axis1_f_FCtrlVelFeed- (%*s)/ 3D09...
  • Page 104 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash feedback Actual value conditioning axis0_u8_ActValueCond- 4000 UNSIGNED8 READWRITE config0 type 0 Type feedback Actual value conditioning axis0_f_ActValueCondMin- 4001 FLOAT...
  • Page 105 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash Analogue Analogue input actual val- AIn2_f_AInActualValue- 4350 FLOAT READ 1e-3 input2 ue filtered 2 Filtered or V Analogue 4350 Analogue input source 2...
  • Page 106 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash feedback Actual value conditioning 4802 axis1_u16_SubIndex0 UNSIGNED16 CONST config1 subindex 1 feedback Actual value conditioning axis1_f_ActValueCond- 4802 FLOAT READWRITE...
  • Page 107 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash diecast- DieCastingVelocityGain- axis0_f_DieCastingVeloci- 5303 FLOAT READWRITE mm/s Changes2 tyGainChanges2 diecast- DieCastingVelocityGain- axis0_f_DieCastingVeloci- 5304 FLOAT READWRITE mm/s Changes3 tyGainChanges3 diecast-...
  • Page 108 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash diecast- 5416 DieCastingProfileVel0_6 axis0_f_DieCastingVel0_6 FLOAT READWRITE diecast- 5417 DieCastingProfileVel0_7 axis0_f_DieCastingVel0_7 FLOAT READWRITE diecast- 5418 DieCastingProfileVel0_8 axis0_f_DieCastingVel0_8 FLOAT READWRITE diecast- 5419...
  • Page 109 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash modelba- 5602 sedfeed- f_MbffwCoefA1 axis0_f_MbffwCoefA1 FLOAT READ 0.001 mm/s forward0 modelba- %/mm/ 5603 sedfeed- f_MbffwCoefA2 axis0_f_MbffwCoefA2 FLOAT READ 0.001...
  • Page 110 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash model- based- axis0_f_MbffwResFrequ- 5617 f_MbffwResFrequValve FLOAT READWRITE 0.001 feedfor- Valve ward0 analogue AOut_u8_OutputFunc- 5850 Output functions 1 UNSIGNED8 READWRITE output...
  • Page 111 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash valve AOut1_u8_ValveSignal- 5B52 Valve signal type 1 UNSIGNED8 READWRITE 0..3 config 1 Type valve Valve actuation range po- AOut1_u8_ValveActuation- 5B53 UNSIGNED8...
  • Page 112 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash valve Valve open loop set- AOut2_f_ValveOpenLoop- 5C56 FLOAT READWRITE config 2 point 2 Setpoint output Output chain input source AOut2_i8_CtrlOutChainIn- 5C80 UNSIGNED8...
  • Page 113 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash Pressure controller direc- output AOut3_f_CtrlOutFCtrlDirD- 5D83 tion dependent gain factor FLOAT READWRITE chain3 epGainFactorPos positive 3 Pressure controller direc- output AOut3_f_CtrlOutFCtrlDirD-...
  • Page 114 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash model- based- axis1_i16_MbffwLastRec- 5E0A 0 i16_MbffwLastRecState INTEGER16 READ feedfor- State ward1 model- based- axis1_i16_MbffwStartRec- 5E0B 0 i16_MbffwStartRecFlag INTEGER16 READ...
  • Page 115 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash Last 32 603F 0 device0 Error code 0 axis0_u16_ErrorCode UNSIGNED16 READ errors 6040 0 device0 Controlword 0 axis0_u16_Controlword UNSIGNED16 READWRITE 6041...
  • Page 116 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash pressure- rated 6087 Target slope 0 axis0_u32_TorqueSlope UNSIGNED32 READWRITE 0.001 force0 unit/s positio- 6098 Homing method 0 axis0_i8_HomingMethod INTEGER8 READWRITE...
  • Page 117 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash positio- axis1_i32_AccDemand- 686E Acc Demad Value 1 INTEGER32 READ mm/s² ning1 Value pressure- rated 6871 Target torque 1 axis1_i16_TargetTorque INTEGER16 READWRITE...
  • Page 118 Electrohydraulic Control Module Appendix Series PACHC Reso- Value Save to Index Group Plain Text Variable name Data type Access rights Unit lution range flash 7000 11 scope Scope channel data FLOAT READ 7000 12 scope Scope channel data FLOAT READ 7000 13 scope Scope channel data FLOAT...

  • Page 119: Start Parameters

    Electrohydraulic Control Module Series PACHC Start parameters The start parameter list is independent of the configuration steps described above and is not generated automati- cally during configuration, but must be created manually. The start parameter list is automatically transferred to the PACHC when the EtherCAT changes from the status Pre- Operational to Safe-operational.

  • Page 120: Index

    Electrohydraulic Control Module Index Series PACHC Index Description Page Description Page Absolute positioning Earthing Access to PACHC parameters Electrical installation Accessories Electromagnetic compatibility Acknowledging errors Electromagnetic interference Activating the drive Encoder Adding PACHC (offline) Endless positioning Adjusting profile of actual position Error Analogue encoder Error handling...
  • Page 121 Electrohydraulic Control Module Index Series PACHC Description Page Description Page Machine reference point/homing Safety instructions Maintenance 9, 83 Safety-conscious Working Manual operation 47, 66, 67 Saving and loading parameters Mapping Setting error reaction Mechanical installation Setting force/pressure Module interconnection Settings force/pressure control Monitoring and error handling Setting positioning and force/pressure Monitoring maximum force...
  • Page 122 © 2023 Parker Hannifin Corporation. All rights reserved. MSG11-5715-720/UK, 01/2023 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,...

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