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Parker Manuals
Servo Drives
PD-01 Series
User manual
Parker PD-01 Series User Manual
New servo system
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Contents
Table of Contents
Bookmarks
Table of Contents
Table of Contents
Table of Figures
Important User Information
Change Summary
Introduction
P Series Products Overview
P Series Features
PD Drive Names
Input Power
Figure 1. PD Drive Names
Front Panel Description of Representative Drives
Figure 2. 400W Drive Front Description
Table 1. Output Power Level
PM Motor Names
Figure 3. 1000W Drive Front Description
Figure 4. 3500W Drive Front Description
Options
Compatible Parker Product
Figure 5. PM Motor Names
Assumptions of Technical Experience
Technical Support
Mechanical Installation
Environment
Table 2. Drive Installation Environment
Dimensions
PD Drive Dimensions (PD-01Xx to PD-35Xx)
Figure 6. PD Drive Dimensions
Table 3. PD Drive Dimensions
PM Motor Dimensions (FAL Series)
Figure 7. PM-FAL Series Motor Dimension
Table 4. PM-FAL Series Motor Dimension
PM Motor Dimensions (FBL Series)
Figure 8. PM-FBL Series Motor Dimension
Table 5. PM-FBL Series Motor Dimension
PM Motor Dimensions (FCL Series)
Figure 9. PM-FCL Series Motor Dimension
Table 6. PM-FCL Series Motor Dimension
PM Motor Dimensions (FE Series)
Figure 10. PM-FE Series Motor Dimension
Table 7. PM-FE Series Motor Dimension
PM Motor Dimensions (FF Series)
Figure 11. PM-FF Series Motor Dimension
Table 8. PM-FF Series Motor Dimension
Weight
Mounting Guidelines
Cable Routing
Panel Mounting
Table 9. PD Drive Weight
Figure 12. PD-04P Mounting Information
Figure 13. PD-10P Mounting Information
Preventing Excessive Impact
Combining with Load Device
Figure 14. PD-35P Mounting Information
Pulley Combining
Table 10. Pulley Combining Information
Electrical Installation
Installation Safety Requirements
Precautions
Auto-Configuration for Encoders
System Installation Overview
Power Supply
Power Circuit Electronics Specification
Figure 15. System Installation Overview
Table 11. Power Circuit Electronics Specification
Multiple Drive Installations
Drive Node Address Setting
Table 12. Drive Node Address Setting
Terminating Resistance Setting
Brake Relay (Optional)
Dynamic Brake
Signal Output Function Setting
Figure 16. Dynamic Brake Sequence
Table 13. Dynamic Brake Related Objects
Regeneration Protection
Table 14. Regeneration Related Objects
Table 15. Internal Resistor Setting
External Resistor Setting
Other Consideration
Table 16. External Regeneration Resistor Setting
Drive Status Indicators
PD Drive Alarm Code List
Table 17. PD Drive Alarm Code List
PD Drive Warning Code List
Connector Descriptions
Table 18. PD Drive Warning Code List
Installation Test
Testing the PD Drive
Drive Blocks
Figure 17. PD Drive Block Diagram
Wiring
Power
Figure 18. Drive Wiring Example
Feedback Signal
I/O Signal Wiring
Figure 19. Example of Digital Input Signal Wiring
Figure 20. Example of Digital Output Signal Wiring
Figure 21. Example of Analog Input Signal Wiring
Pulse Heat Signal
Figure 22. Example of Analog Output Signal Wiring
Figure 23. Example of Pulse Heat Signal Wiring
Figure 24. Example of Open Collector Pulse Input Signal Wiring
Figure 25. Example of NPN Open Collector Pulse Command Wiring
Communications and I/O
Overview
Communication
Figure 26. RS-422 Multi-Drop Connection Example
Terminal Configuration
Establishing Communication
Table 19. RS-422 Terminal Specification
Packet Structure
Table 20. RS-422 Connector Pin Description
Table 21. RS-422 Transmission Packet Structure
Table 22. RS-422 Reception Packet Structure
Table 23. Protocol Packet Code Description
Protocol Command Code Description
Table 24. Exception Code Description
Table 25. Read Holding Register
Table 26. Example of Reading Single Parameter
Table 27. Example of Reading Multiple Parameters
Table 28. Read Input Signal
Table 29. Example of Reading Drive Status
Table 30. Write Single Register
Table 31. Example of Write Single Register
Table 32.Write Multi Register
Communication Address Table
System Configuration Parameters
Table 33. Example of Writing Multiple Parameters
Control Parameters
Table 34. System Configuration Parameters
I/O Parameters
Table 35. Control Parameters
Speed Operation Parameters
Table 36. I/O Parameters
Miscellaneous Parameters
Table 37. Speed Operation Parameters
Advanced Control Parameters
Monitoring Parameters
Table 38. Miscellaneous Parameters
Table 39. Advanced Control Parameters
Procedures and Alarm History
Rd Party Motor Parameters
Table 40. Monitoring Parameters
Table 41. Procedures and Alarm History
Cia402 Parameters
Table 42. 3 Rd Party Motor Parameters
Table 43. Cia402 Parameters
Index Related Parameters
Index00~63 Internal Variable Communication Address
Table 44. Index Related Parameters
Table 45. Index Variable Communication Address
Table 46. Example of Internal Variable of Index00
I/O
Digital I/O
Table 47. Digital Input Signal Description
Analog I/O
Table 48. Digital Output Signal Description
Pulse Heat Input
Table 49. Analog Input Signal Description
Table 50. Analog Output Signal Description
Table 51. Pulse Train Input Signal Description
Encoder Output
Table 52. Encoder Output Signal Description
I/O Signal Setting
Allocating Digital Input Signals
Table 53. Encoder Output Signal of Open Collector Method
Table 54. Encoder Output Related Objects
Figure 27. Allocating Digital Input Signals
Table 55. Allocating Digital Input Related Objects
Allocating Digital Output Signals
Table 56. Example of Signal Input Allocation
Figure 28. Allocating Digital Output Signals
Table 57. Allocating Digital Output Related Objects
Using User I/O
Table 58. Example of Signal Output Allocation
Table 59. User Input Related Objects
Table 60. User Output Related Objects
Table 61. Physical Output Descriptions
Table 62. Bit Mask Descriptions
Tuning
Servo Tuning Overview
Position Variable Overview
Commanded Position
Figure 29. Commanded Position
Actual Position
Servo Response Overview
Stability
Position Response Types
Performance Measurements
Automatic Gain Tuning
Figure 30. Position Response Types
Related Objects
Figure 31. Control Loop Block Diagram
Table 63. Auto Tuning Related Objects
Manual Gain Tuning
Speed Controller Tuning
Position Controller Tuning
Vibration Control
Filters
Figure 32. Vibration Control
Related Objects
Adaptive Filter
Figure 33. Meaning of Notch Filter
Table 64. Notch Filter Related Objects
Related Objects
Analog Monitor
Figure 34. Adaptive Filter Diagram
Table 65. Adaptive Filter Related Objects
Related Objects
Figure 35. Analog Monitor
Table 66. Analog Monitor Related Objects
Analog Monitor Output Mode(0X2220) Setting
Analog Monitor Channel 1 Setting (0X2221)
Figure 36. Analog Monitor Output Setting
Setting Example
Figure 37. Setting Example
Table 67. Analog Monitor Channel Setting
Gain Conversion
Gain Group Conversion
Table 68. Gain Conversion Description
P/PI Control Conversion
Table 69. Gain Conversion Related Objects
Figure 38. P/PI Control Conversion
Figure 39. Example of P/PI Conversion
Table 70. P/PI Control Related Objects
Command Reference
Pulse Input Position Operation
Function Setting of Pulse Input Logic
Related Objects
Table 71. Pulse Input Logic Related Objects
Block Diagram
Figure 41.Inner Block Diagram under the Pulse Input Position
Function Setting of Pulse Input Filter
Function Setting of PCLEAR
Homing
Table 72. Pulse Input Filter Related Objects
Table 73. Function Setting of PCLEAR
Homing Methods
Figure 42. Homing Function
Related Objects
Table 74. Homing Methods
Table 75. Homing Related Objects
Electronic Gear Setting
Electronic Gear
Example of Electronic Gear Setting
Speed Control Setting
Smooth Acceleration/Deceleration
Figure 43. Speed Control
Table 76. Examples of Gear Setting
Servo Lock Function
Related Signal
Figure 44. Smooth Acceleration and Deceleration
Table 77. Servo Lock Function
Position Control Setting
Position Command Filter
Table 78. Servo Lock Function Related Objects
Figure 45. Position Command Filter
Table 79. Position Command Filter Related Objects
Signals Related with Position Control
Table 80. Position Control Related Objects
Limit Setting
Forward/Reverse Limit Setting
Table 81. Limit Setting Related Objects
Brake Output Signal Function Setting
Figure 46. Brake Output Function
Torque Limit Setting
Figure 47. Torque Limit
Table 82. Torque Limit Related Objects
Absolute Encoder Data Transmission
Figure 48. Absolute Encoder Data Sequence
Touch Probe Function
Figure 49. Touch Probe Function
Table 83. Touch Probe Function Related Objects
Figure 50. Touch Probe Function Timing Diagram
Procedure
Procedure Function
Manual Jog Operation
Table 84. Procedure Function
Program Jog Operation
Figure 51. Program Jog Operation
Table 85. Procedure Function Related Objects
Alarm Record Detection
Table 86. Program Jog Operation Related Objects
Automatic Gain Tuning
Index Pulse Probing
Table 87. Alarm Detection Related Objects
Absolute Encoder Reset
Table 88. Index Pulse Probing Related Objects
Instantaneous Maximum Torque Reset
Phase Current Offset Tuning
Table 89. Absolute Encoder Reset Related Objects
Table 90. Instantaneous Maximum Torque Reset Related Objects
Software Reset
Commutation
Table 91. Phase Current Offset Related Objects
Table 92. Commutation Related Objects
Indexer
Indexer Overview
Control Methods
Table 93. Indexing Position Operation Related Objects
Coordinate Setting
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P Series Products Overview
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Parker Hannifin
P series – New Servo System
P Series User Guide
1. Effective day: September 2014
Rev.1.0
１
P series User Guide
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