Parker PD-04 Series Manuals

Manuals and User Guides for Parker PD-04 Series. We have 2 Parker PD-04 Series manuals available for free PDF download: User Manual

Parker PD-04 Series User Manual (286 pages)

New Servo System

Brand: Parker | Category: Servo Drives | Size: 9.07 MB

Table of Contents
3
Table of Figures
8
Important User Information
15
Change Summary
16
Introduction
17
P Series Products Overview
18
P Series Features
18
PD Drive Names
18
Input Power
18
Figure 1. PD Drive Names
18
Front Panel Description of Representative Drives
19
Figure 2. 400W Drive Front Description
19
Table 1. Output Power Level
19
PM Motor Names
20
Figure 3. 1000W Drive Front Description
20
Figure 4. 3500W Drive Front Description
20
Options
21
Compatible Parker Product
21
Figure 5. PM Motor Names
21
Assumptions of Technical Experience
22
Technical Support
22
Mechanical Installation
23
Environment
24
Table 2. Drive Installation Environment
24
Dimensions
25
PD Drive Dimensions (PD-01Xx to PD-35Xx)
25
Figure 6. PD Drive Dimensions
25
Table 3. PD Drive Dimensions
25
PM Motor Dimensions (FAL Series)
26
Figure 7. PM-FAL Series Motor Dimension
26
Table 4. PM-FAL Series Motor Dimension
26
PM Motor Dimensions (FBL Series)
27
Figure 8. PM-FBL Series Motor Dimension
27
Table 5. PM-FBL Series Motor Dimension
27
PM Motor Dimensions (FCL Series)
28
Figure 9. PM-FCL Series Motor Dimension
28
Table 6. PM-FCL Series Motor Dimension
28
PM Motor Dimensions (FE Series)
29
Figure 10. PM-FE Series Motor Dimension
29
Table 7. PM-FE Series Motor Dimension
29
PM Motor Dimensions (FF Series)
30
Figure 11. PM-FF Series Motor Dimension
30
Table 8. PM-FF Series Motor Dimension
30
Weight
31
Mounting Guidelines
31
Cable Routing
31
Panel Mounting
31
Table 9. PD Drive Weight
31
Figure 12. PD-04P Mounting Information
32
Figure 13. PD-10P Mounting Information
32
Preventing Excessive Impact
33
Combining with Load Device
33
Figure 14. PD-35P Mounting Information
33
Pulley Combining
34
Table 10. Pulley Combining Information
34
Electrical Installation
35
Installation Safety Requirements
36
Precautions
36
Auto-Configuration for Encoders
36
System Installation Overview
36
Power Supply
37
Power Circuit Electronics Specification
37
Figure 15. System Installation Overview
37
Table 11. Power Circuit Electronics Specification
37
Multiple Drive Installations
38
Drive Node Address Setting
38
Table 12. Drive Node Address Setting
38
Terminating Resistance Setting
39
Brake Relay (Optional)
39
Dynamic Brake
39
Signal Output Function Setting
40
Figure 16. Dynamic Brake Sequence
40
Table 13. Dynamic Brake Related Objects
40
Regeneration Protection
41
Table 14. Regeneration Related Objects
41
Table 15. Internal Resistor Setting
42
External Resistor Setting
44
Other Consideration
45
Table 16. External Regeneration Resistor Setting
45
Drive Status Indicators
46
PD Drive Alarm Code List
47
Table 17. PD Drive Alarm Code List
47
PD Drive Warning Code List
48
Connector Descriptions
48
Table 18. PD Drive Warning Code List
48
Installation Test
50
Testing the PD Drive
50
Drive Blocks
51
Figure 17. PD Drive Block Diagram
51
Wiring
52
Power
52
Figure 18. Drive Wiring Example
52
Feedback Signal
54
I/O Signal Wiring
58
Figure 19. Example of Digital Input Signal Wiring
59
Figure 20. Example of Digital Output Signal Wiring
60
Figure 21. Example of Analog Input Signal Wiring
60
Pulse Heat Signal
61
Figure 22. Example of Analog Output Signal Wiring
61
Figure 23. Example of Pulse Heat Signal Wiring
61
Figure 24. Example of Open Collector Pulse Input Signal Wiring
62
Figure 25. Example of NPN Open Collector Pulse Command Wiring
62
Communications and I/O
63
Overview
64
Communication
64
Figure 26. RS-422 Multi-Drop Connection Example
64
Terminal Configuration
65
Establishing Communication
65
Table 19. RS-422 Terminal Specification
65
Packet Structure
66
Table 20. RS-422 Connector Pin Description
66
Table 21. RS-422 Transmission Packet Structure
66
Table 22. RS-422 Reception Packet Structure
67
Table 23. Protocol Packet Code Description
67
Protocol Command Code Description
68
Table 24. Exception Code Description
68
Table 25. Read Holding Register
68
Table 26. Example of Reading Single Parameter
69
Table 27. Example of Reading Multiple Parameters
69
Table 28. Read Input Signal
70
Table 29. Example of Reading Drive Status
70
Table 30. Write Single Register
71
Table 31. Example of Write Single Register
71
Table 32.Write Multi Register
71
Communication Address Table
72
System Configuration Parameters
72
Table 33. Example of Writing Multiple Parameters
72
Control Parameters
73
Table 34. System Configuration Parameters
73
I/O Parameters
74
Table 35. Control Parameters
74
Speed Operation Parameters
75
Table 36. I/O Parameters
75
Miscellaneous Parameters
76
Table 37. Speed Operation Parameters
76
Advanced Control Parameters
77
Monitoring Parameters
77
Table 38. Miscellaneous Parameters
77
Table 39. Advanced Control Parameters
77
Procedures and Alarm History
78
Rd Party Motor Parameters
78
Table 40. Monitoring Parameters
78
Table 41. Procedures and Alarm History
78
Cia402 Parameters
79
Table 42. 3 Rd Party Motor Parameters
79
Table 43. Cia402 Parameters
80
Index Related Parameters
81
Index00~63 Internal Variable Communication Address
82
Table 44. Index Related Parameters
82
Table 45. Index Variable Communication Address
82
Table 46. Example of Internal Variable of Index00
82
I/O
83
Digital I/O
83
Table 47. Digital Input Signal Description
84
Analog I/O
85
Table 48. Digital Output Signal Description
85
Pulse Heat Input
86
Table 49. Analog Input Signal Description
86
Table 50. Analog Output Signal Description
86
Table 51. Pulse Train Input Signal Description
86
Encoder Output
87
Table 52. Encoder Output Signal Description
87
I/O Signal Setting
88
Allocating Digital Input Signals
88
Table 53. Encoder Output Signal of Open Collector Method
88
Table 54. Encoder Output Related Objects
88
Figure 27. Allocating Digital Input Signals
89
Table 55. Allocating Digital Input Related Objects
90
Allocating Digital Output Signals
91
Table 56. Example of Signal Input Allocation
91
Figure 28. Allocating Digital Output Signals
92
Table 57. Allocating Digital Output Related Objects
93
Using User I/O
94
Table 58. Example of Signal Output Allocation
94
Table 59. User Input Related Objects
96
Table 60. User Output Related Objects
98
Table 61. Physical Output Descriptions
98
Table 62. Bit Mask Descriptions
98
Tuning
99
Servo Tuning Overview
100
Position Variable Overview
100
Commanded Position
100
Figure 29. Commanded Position
100
Actual Position
101
Servo Response Overview
101
Stability
101
Position Response Types
101
Performance Measurements
102
Automatic Gain Tuning
102
Figure 30. Position Response Types
102
Related Objects
103
Figure 31. Control Loop Block Diagram
103
Table 63. Auto Tuning Related Objects
103
Manual Gain Tuning
104
Speed Controller Tuning
104
Position Controller Tuning
104
Vibration Control
105
Filters
105
Figure 32. Vibration Control
105
Related Objects
106
Adaptive Filter
106
Figure 33. Meaning of Notch Filter
106
Table 64. Notch Filter Related Objects
106
Related Objects
107
Analog Monitor
107
Figure 34. Adaptive Filter Diagram
107
Table 65. Adaptive Filter Related Objects
107
Related Objects
108
Figure 35. Analog Monitor
108
Table 66. Analog Monitor Related Objects
108
Analog Monitor Output Mode(0X2220) Setting
109
Analog Monitor Channel 1 Setting (0X2221)
109
Figure 36. Analog Monitor Output Setting
109
Setting Example
110
Figure 37. Setting Example
110
Table 67. Analog Monitor Channel Setting
110
Gain Conversion
111
Gain Group Conversion
111
Table 68. Gain Conversion Description
111
P/PI Control Conversion
112
Table 69. Gain Conversion Related Objects
112
Figure 38. P/PI Control Conversion
113
Figure 39. Example of P/PI Conversion
114
Table 70. P/PI Control Related Objects
114
Command Reference
115
Pulse Input Position Operation
116
Function Setting of Pulse Input Logic
117
Related Objects
117
Table 71. Pulse Input Logic Related Objects
118
Block Diagram
119
Figure 41.Inner Block Diagram under the Pulse Input Position
119
Function Setting of Pulse Input Filter
120
Function Setting of PCLEAR
120
Homing
120
Table 72. Pulse Input Filter Related Objects
120
Table 73. Function Setting of PCLEAR
120
Homing Methods
121
Figure 42. Homing Function
121
Related Objects
122
Table 74. Homing Methods
122
Table 75. Homing Related Objects
122
Electronic Gear Setting
133
Electronic Gear
133
Example of Electronic Gear Setting
135
Speed Control Setting
136
Smooth Acceleration/Deceleration
136
Figure 43. Speed Control
136
Table 76. Examples of Gear Setting
136
Servo Lock Function
137
Related Signal
137
Figure 44. Smooth Acceleration and Deceleration
137
Table 77. Servo Lock Function
137
Position Control Setting
138
Position Command Filter
138
Table 78. Servo Lock Function Related Objects
138
Figure 45. Position Command Filter
139
Table 79. Position Command Filter Related Objects
139
Signals Related with Position Control
140
Table 80. Position Control Related Objects
140
Limit Setting
141
Forward/Reverse Limit Setting
141
Table 81. Limit Setting Related Objects
141
Brake Output Signal Function Setting
142
Figure 46. Brake Output Function
142
Torque Limit Setting
144
Figure 47. Torque Limit
147
Table 82. Torque Limit Related Objects
147
Absolute Encoder Data Transmission
148
Figure 48. Absolute Encoder Data Sequence
148
Touch Probe Function
149
Figure 49. Touch Probe Function
149
Table 83. Touch Probe Function Related Objects
150
Figure 50. Touch Probe Function Timing Diagram
151
Procedure
152
Procedure Function
153
Manual Jog Operation
153
Table 84. Procedure Function
153
Program Jog Operation
154
Figure 51. Program Jog Operation
154
Table 85. Procedure Function Related Objects
154
Alarm Record Detection
155
Table 86. Program Jog Operation Related Objects
155
Automatic Gain Tuning
156
Index Pulse Probing
156
Table 87. Alarm Detection Related Objects
156
Absolute Encoder Reset
157
Table 88. Index Pulse Probing Related Objects
157
Instantaneous Maximum Torque Reset
158
Phase Current Offset Tuning
158
Table 89. Absolute Encoder Reset Related Objects
158
Table 90. Instantaneous Maximum Torque Reset Related Objects
158
Software Reset
159
Commutation
159
Table 91. Phase Current Offset Related Objects
159
Table 92. Commutation Related Objects
159
Indexer
160
Indexer Overview
161
Control Methods
161
Table 93. Indexing Position Operation Related Objects
162
Coordinate Setting
164
Figure 53. Internal Blocks of Indexing Position Mode
164
Index Structure
166
Table 94. Index Structure
167
Indexing Position Operation
168
Concept of Index
168
Absolute and Relative Move
173
Registration Absolute and Relative Move
174
Blending Absolute and Relative Move
175
Rotary Absolute and Relative Move
175
Rotary Shortest Move
176
Rotary Positive and Negative Move
177
Functions of Index Input Signal
178
Functions of Index Output Signal
181
Analog Speed Override
182
Figure 54. Analog Speed Override
182
Table 95. Analog Speed Override Related Objects
182
Object
183
Object Dictionary
184
Data Type
184
General Objects
184
Table 96. Object Dictionary Data Type
184
Table 97. Hardware Version
185
Table 98. Software Version
185
Table 99. Store Parameters
186
Table 100. Restore Parameters
187
Table 101. Identity Object
187
Manufacturer Specific Objects
188
Table 102. Encoder Type Object
188
Table 103. Encoder Pulse Per Revolution
189
Table 104. Touch Probe Functions
251
Table 105. Touch Probe Status
251
Table 106. Digital Input Status
254
Table 107. Physical Output Descriptions
255
Table 108. Bit Mask Descriptions
255
Table 109. Supported Modes
256
Table 110. PM-FAL Series Features
258
Table 111. PM-FBL Series Features
258
Table 112. PM-Fclxxamxx Series Features
259
Table 113. PM-Fclxxdmxx Series Features
259
Table 114. PM-Fexxamxx Series Features
260
Table 115. PM-Fexxdmxx Series Features
260
Table 116. PM-Fexxgmxx Series Features
261
Table 117. PM-Fexxmmxx Series Features
261
Table 118. PM-Ffxxam/MMXX Series Features
262
Table 119. PM-Ffxxdm/Gmxx Series Features
262
Figure 55. FAL Series N-T Curves
264
Figure 56. FBL Series N-T Curves
265
Figure 57. FCL Series N-T Curves
267
Figure 58. FE Series N-T Curves
273
Figure 59. FF Series N-T Curves
275
Table 120. Servo Alarm Check List
279
Table 121. Servo Warning Check List
280

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