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1. RETE o t i essessesseesus 8 Index pulse Home switch ow ap Ld gt Positive limit switch Figure 26 Homing on the home switch and index pulse positive initial move J 3 7 eau gt ai Index pulse y Home switch Negative limit switch Figure 27 Homing on the home switch and index pulse negative initial move 12 1 8 1 6 Methods 15 and 16 Reserved These methods are reserved for future expansion of the homing mode 157 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 8 1 7 Methods 17 to 30 Homing without an index pulse These methods are similar to methods 1 to 14 except that the home position 1s not dependent on the index pulse but only dependent on the relevant home or limit switch transitions For example methods 19 and 20 are similar to methods 3 and 4 as shown in the following diagram Home switch __ Figure 28 Homing on positive home switch 12 1 8 1 8Methods 31 and 32 Reserved These methods are reserved for future expansion of the homing mode 12 1 8 1 9 Methods 33 to 34 Homing on the index pulse Using methods 33 or 34 the direction of homing is negative or positive respectively
2. To view all the parameters press the o keys If you want to verify the value press the M key When the value 15 displayed it can be modified by using the e keys To return to parameter mode press the M key again The type of display depends on the type of parameter shown If you need to increment or decrement quickly the value of a parameter you can do this by pressing the M key while the increment key or decrement key 15 held down 42 Parker Hannifin Manufacturing Srl user s manual TPDM status 6 Ses T 1 Pb 639 0 5 A Pico PLC In 9 gt PLC inst M 1 oper M gt 2 oper gt 3 oper gt d So Hold M pressed for 2 sec while the name of a parameter PRxx is displayed to make the keypad control switch to a different axis a led will denote the active axis A B or C The following messages may be displayed on the screen in addition to the value of the parameters and the instructions of the pico PLC Pr Xx Indicates the parameter xx whose value can be displayed by pressing the M key Pb Xx Indicates the parameter at bit xx bxx yy Indicates the bit yy of parameter xx By pressing the M key the status of the bit 15
3. 194 Parker Hannifin Manufacturing Srl user s manual TPDM 1 Safety instructions 1 1 Symbols and signals Several symbols and signals are used in this safety instruction Pay attention to the following meanings Extremely severe risk Disregarding the following advise may involve danger of life Severe risk Disregarding the following advise may involve serious personal injury Medium risk Disregarding the following advise may involve personal injury 1 2 General information e Only persons who are qualified and trained for the use and operation of the equipment may work on this device or within its proximity The persons are qualified if they have sufficient knowledge of the assembly transportation installation and operation of the equipment as well as an understanding of all warnings and precautionary measures noted in these instructions The user must also observe local safety regulations e Before installing and commissioning the drive read carefully this documentation and strictly observe all technical safety and wiring information including identifying labels placed on the drive ratings In case of doubt contact the Parker Hannifin service centre e Drives are to be intended as components for use in machine or systems Therefore they can be used only in machine or systems that are in compliance with the low voltage directive and with the electro magnetic compatibility direct
4. Pe dpa eade sos does sues deoa assa e 108 S ROM IM 108 90 2 Speed adjust miel ioc eden 109 9 6 3 Current or torque adjustment 109 904 Ereguenc y input output CENCOder Poris iuc b tee aec NH b ed oiu 109 110 2 0 0 a 110 JOT cOutput CANT PFO eek eal 111 96 05 Andloeue s do ou feto rh tau audscdu 112 2 9 9 MIster r HOO o ooi eerie sed nie a 112 9 6 10 Multiturn absolute encoder phasing on zero 112 Peedborward or speed 114 9 0 T2 Motor b ILL Ea UR TERMIN IDE 115 Dod ECO anm on iren ccu ten Autism 118 10 PROGRAMMING DIGITAL INPUTS OUTPUTS 120 10 1 The pICO P EC I 120 10 2 Programming with 127 126 103 127 11 SERIALINTERFAC E 128 11 1 COMMUNICATION Protocol 128 12 133 12 1 CANop
5. LE ux REF 1 ux encoder MD encoder IH 5 out tral put ux REF Qux REF 1 aux REF 4 REF 4 11 lt 11 4 IN3 2 9 It 3 4 0 a In 4 a Qux REF tap 4 Io o 5 1 4 NIL 3 end 2 16 ae ene OT D enc HT 4 EE d Feedback Feedback i nc OUI 1208 3 meis 0 enc JM A enc IN Bt Enc M Mo n enc IN B enc JM Ct enc L JN by m CMD by X27 Feedback Parker Hannifin Manufacturing Srl 21 4 Characteristics Auxiliary encoder input Max frequency encoder input Power supply Number lype Voltage CMR resolution input impedance max frequency 21 5 Parameters Analog reference IN TPDM Auxiliary reference user s manual TPDM in quadrature 2000 5V requested externally 2 2000 3 1 each axis differential 10 gt 80 14 sign gt 18 2 Pr22 X13 B X14 C Analog reference IN X22 exo 14 bit Main reference 45 Pr66 67 Dedicated to axis A only Ratio Pr52 Pr53 Pr66 67 X23 Dedicated to axis B and C Ratio Pr52 Pr53 X24 C Aux
6. Interpolated Position mode of vean Here schematic of device control with controlword statusword 138 Control word 6040h State machine Status word 6041h Actions Internal ems Voto 3 Parker Hannifin Manufacturing Srl Power disable user s manual TPDM Operation enable Quick stop active Fault 13 Fault reaction start active 0 14 4 ot ready to switch On us LL LL SwitchOn 2 disabled 4 12 4 2 7 Y to owitch On A 1 3 6 Power enable v Switched On 4 5 Y VERRE ees 16 If current clamping is active bit 11 of the statusword rises If b272 10 1 and in remote mode the command bit of the static brake 1s driven by the bit 15 of the controlword If a fault on static brake occurs it 1s reported on bit7 warning of the statusword 12 1 2 1 Object 6040h Controlword The controlword consist of bits for the controlling of the state the controlling of operating modes and manufacturer specific options OBJECT DESC
7. 177 14 APPENDIX B SOFTWARE TIMING 177 15 APPENDIX C DEFAULT PROGRAM FOR PICO PLC 178 16 APPENDIX D FLASH INFORMATION eren rn nnn nnn 179 17 APPENDIX E SWITCHING 22 2 180 18 APPENDIX TPDM ALARMS 2 1 1 181 18 1 SUB Alarms aee 182 19 APPENDIX SHIELD 1 1 1 91 1 184 20 APPENDIX ETHERCAT 2 185 20 1 Setting parameters of EtherCAT communication ecce eere eee e e eee eee eee eee 186 21 APPENDIX I ANALOG EXPANSION BOARD 187 21 1 mer E 187 21 2 e 188 21 3 casside dH i 189 21 4 CharacteristicSa 190 21 5 iei e E IPSE A INI NER MEIN e IH I S 190 22 APPENDIX L ASYNCHRONOUS MOTOR V F CONTROLLED 192 22 1 Parameters 193 23 REVISION HISTORY OF THE USER
8. M 41 5 USING THE de 42 5 1 SD card management o en e eh ee ine Rev EODD HEP i 44 EUN AECI ETT Umm 46 6 START UP e 47 6 1 petting the default pardmieets eee 47 6 2 Selection ob motor Ly 6 ost S E Duende ie Wan 47 6 3 CHANGING motor data ues tii net ter IEEE EVI Hue 48 6 4 Tec DM NEU 48 O41 Select Supply TeedbOok ota corinne ea ee 48 06 12 Feedback N 49 6 5 Feedback from incremental encoder e eee Lecce eee eee ee eee 50 6 6 50 MEME OU RIED ECTS TUUM LLL 50 0 02 2 51 6 6 3 Phasing procedure for encoder with EnDat Hiperface DSL digital interface 52 DoD DM 22 6 7 First enituit t 53 6 8 Speed D He 54 7 ANALAOG DIGITAL I OS AND 5 60 7 1 Distal vaesenncenans 60 7 2 85 Im 62 7 3 62 8 PARAM
9. 283 62761 02048 016384 256 60 12810 Kt Doa Where J kg m total inertia of the system Kt N m A motor torque constant A peak current of the drive Linear motor PowerROD Trilogy 1 1 1 1 Pr 283 ePPeM e e e 2048 16384 e 256 60 128107 Where A peak current of the drive PP pole pitch M kg total mass in movement Kf N A motor force constant 114 Parker Hannifin Manufacturing Srl user s manual TPDM FFWD acc Torque monitor offset Pr284 Pr285 FFWD d 2 fay current dt Pr283 aw gt A Reference O gt 7 Motor f v speed Pr16 Pr17 287 PrO Integral Torque monitor gain of speed loop 9 6 12 Motor brake management The new function motor brake management is available into the firmware Pr25 8 or greater and is activated by the bit b251 6 This function provides to supply the motor brake during the movement b41 12 1 and it s possible choose it by remote control or by standard mode the bit b251 7permits to use the control by external control or by drive firmware The function uses two drive parameters as timer to control the movement of the motor the first timer is the delay to reset the command STOP the second timer is the delay to disable the drive Using the 05402
10. PDO 1 2 returns the value of position feedback in counts from pr 63 62 1f mapped on PDO 4 returns the value of the position feedback at the sync signal 0 6064 position actual value units If read by mean of SDO or mapped on PDO 2 returns the value in counts of position feedback pr 63 62 transformed in user units by mean of position factor 1f mapped on PDO 4 returns the value of the position feedback at the sync signal in counts the algorithm of interpolated mode does not support factor group 0 6065 Following error window it is converted in counts by mean of position factor then setin SERVOI pr 55 the parameters is used to test following error The parameters of SERVOI are changed by the firmware only if in remote mode 0 6066 Following error timeout resolution of 1 024 msec per unit 0 6067 Position window in user units converted by mean of position factor and compared with the motor position to check if target reached in profile position and interpolated position modes 0 6068 Position window time resolution of 1 024 msec per unit 0x607a Target position in user units converted by mean of position factor and used in profile position mode in this mode some elements of CAM tab 0 are used as spare memory and so affected by changes 0x607c Home offset in position units converted by position factor 0 6081 profile velocity profile velocity in profile position mode in coun
11. Parker Hannifin Manufacturing Srl Ox6505 http drive catalog address http www sbcelettronica com http www parker eme com Following modes of operation of DSP402 are implemented beside the device control state machine Homing mode Profile position mode Interpolated position mode The field Error Code will contain a specific code based on the different drive alarm 01 over voltage 0x3210 Er02 under voltage 0x3220 Er03 over current 0x2340 04 motor feedback break 0x7310 Er05 over temperature motor Oxff07 Er06 over temperature drive 0 4310 07 aux trip 1 Oxff00 Er08 aux trip 2 Oxff01 10 checksum PLC 0 6310 11 checksum Parameter 0x6310 14 braking resistance alarm 0x7113 Er15 default Parameter 0x6320 16 CANopen myssing sync Er17 calibration alarm 0x5210 22 over temperature ambient 0 4110 Er24 PSU alarm 0 7112 25 speed feedback error 27 overload digital outputs When alarms are reset with b99 10 Error code will be 0x0000 Parker Hannifin Manufacturing Srl user s manual TPDM CAN node Application layer and communication profile DS 301 Device Profile 402 Device Control state machine Homing mode Profile Position mode
12. Pr77 Constantvalue 1000 Double word 1000 Pr78 Constantvalue 104 Double word 14 5 Constant value Een RN MEN Pr87 available to the user word 92 First timer of the PLC Every 6 144 ms if Pr92 is different to 0 it is decrement if it is equal to zero b99 0 1 Second timer of the PLC Every 6 144 ms if Pr93 is different to 0 it is decrement if it is equal to zero b99 1 1 151 Free parameters Parameters that can be stored and 32767 R W 163 available to the user word M 120 Parker Hannifin Manufacturing Srl user s manual TPDM Binary parameters of the pico PLC Note Status of digital input 0 Status of digital input 1 This input is R W commononly for the axisenabled bit b230 1 1 b90 1 Status of digital input 1 Status of digital input 2 This input is commononly for the axis enabled bit b230 1 1 b90 2 Status of digital input 2 Status of digital input 3 This input is commononly for the axis enabled bit b230 1 1 b90 3 Status of digital input 3 Status of digital input 4 This input is commononly for the axis enabled bit b230 1 1 b90 4 that can be stored If the bit b230 1 0 this is a bit that can stored by the user Otherwise Status of digital input 4 if the bit b230 1 1 this input is commonfor the axis enabled only TPDM multi axis b90 5 Bit that can be stored If the bit b230 1 0 this is a bit that can
13. Result after to have connected the motor and the device of feedback to the drive the counter of the feedback increases if the motor turns clockwise and decrease if turns counter clockwise sense To avoid to damage the motor winding to power the circuit only for the necessary time 32 Parker Hannifin Manufacturing Srl user s manual TPDM 6 7 First commissioning The steps to be followed carefully the first time the converter is used are given below 1 supply the drive with only 24V and insert the motor and feedback data save b99 15 and put off the device 2 Connect the motor to the converter by following carefully the diagrams in the manual 3 Disable the drive 4 Power the converter on 5 o message will appear on the screen 6 Set the analogue reference to V and enable the converter on 7 At this point the motor shaft should be stopped Any change in the voltage of the analogue reference should produce a proportional change in the speed of the motor If this does not happen control the cabling The enable bit of the drive b41 5 can be set by a digital input used from pico PLC or via serial line or CAN bus The converter comes with default values pre defined that satisfy most applications In the default status the pico PLC in the converter runs the program described Appendix 35 Parker Hannifin Manufacturing Srl user s manual TPDM 6 8 Speed control adjustment SOME IMPORTANT
14. Brake 1 CANIL QU 2 CANILOIN 4 CANDL N OUT 5 8 6 7 CANIHIN 8 9 CAN2H IN OUT DB15 poles female HD X16 A X17 B X18 C Feedback 0VA PTC 02 DSL Terminal block X48 Axes A B C 9 DSL B 8 DSL A X19 encoder I O 6 8 SIN A 6 OVA Encoder supply At 8 En NB 9 CLK HallC TPDM H 9 En OUTA 11 05 Enc IN A4 DATE 6 PIC 2 DATA Enc OUT Enc OUT 24 Parker Hannifin Manufacturing Srl 4 51 TPDM single axis 25 I O Terminal block X13 Axis A I O Terminal block 9 Safety Torque OFF 2 8 0V Safety Torque 6 na 2 lt 4 Digital OUT supply user s manual TPDM Parker Hannifin Manufacturing Srl 4 5 2 TPDM two axes A B Terminal block X14 Axis B 8 I O Terminal block X15 0 Digitalinput b90 9ifb230 1 1 W P O O 22 21 user s manual I O Terminal block X13 Axis A I O Terminal block X12 3 Reference IN 2 OV Digital OUT supply if the bit b230 1 1 this input is not common to each axis only TPDM multi axis Digital input 3 b90 7 Digital input 2 b90 6 Digital input 1 b90 5 Digital i
15. MC SICH ee a 2 2 V mE 2 Measurements expressed mm Tolerance 1 5 mm AN imporranr ELLIN VERTICAL POSITION IMPORTANT e To ensure drive cooling leave a free space above below and in front of at least 100 mm The illustration shows how hot air cooling must be done in an external environment to avoid damage caused by the formation of condensation The flow of air entering the converter must not come from or pass through other heat source parts A ieortAnt Fit a suitable ventilation filter inside the switchboard 22 Parker Hannifin Manufacturing Srl user s manual TPDM 4 4 Connectors layout _ Serial link pa SD card Opt Board field BUS or I O E _ CANI and I O and safety Display Protective cover Power input DC BUS and 24V Mechanical brake Motor connection 1 8 A N 1 X48 DSL PS NENE connections ELM AR lt ym am E Mo 23 Parker Hannifin Manufacturing Srl user s manual TPDM 4 5 Connectors DB9 poles male X11 CANbus CANI L OUT CANI L IN Mechanical brake Motor connection A B C X46 X45 CU CV FE BU BV m L IN OUT Shield CANI H IN CANI H OUT CAN2 H IN OUT 24Vde FE Functional Earth B AU AV FE Motor brake connection X43 single axis 6
16. Position offset 50 Motor quota caugth Max speed 670 15 Quota caugth Feedback Pr69 68 Digital input 1 Motor feedback 070 1 Motor position encoder Pr63 62 Master reference 54 d Master quota caugth encoder b70 14 Reference multiplier d encoder IN Counter encoder b180 14 Quota caugth IN dt 59 58 T 567 66 E b42 5 Reference divider encoder IN 070 9 CAN mull Master speed multiplier Zero Digital input 0 e ME Pr154 encoder inp Pr155 p Counter CAN Reference CAN noai divider Master reference operative mode Reference Fre dir multiplier IN2 IN3 EC Pr215 214 Freq Dir Pr213 Quadra Reference Fre dir counter Fre dir 042 4 divider Freq dir Quadrature Mester speed 78 Parker Hannifin Manufacturing Srl user s manual TPDM IN Pr50 Maximum speed This parameter limits the 0 9000 130 maximum speed of motor It can be useful to limit the speed during a sudden link or during a rpm 1 quick change of speed Pr51 Position error 32768 32767 count Pr52 Reference multiplier Using this parameter and 32000 Pr53 the user can set the ratio desired for the input E reference frequency Reference divider Using this parameter and Pr52 32000 the user can set ratio desired for the input rpm reference frequency Pr53 Pr54 Encoder in rotation speed read only Indicates rpm the input reference frequency translat
17. Vcc PNP switch dc Reference digital IN 24V dc NPN f NPN switch GND In the same X13 X14 X15 terminal blocks there are 2 digital outputs per axiscombined with binary parameters Axis Terminal Digital output Binary parameter TPDM 15 type T 590 Always 1 axis 2 axes OUTI 1 b91 1 3 axes OUT 0 b91 0 Output voltage depends on the voltage supplying digital outputs terminals 4 and 2 of X12 than can range between 5 and 24 Vdc 61 Parker Hannifin Manufacturing Srl user s manual TPDM 7 2 Analog inputs outputs type 6 17 Always X13 1617 N 1 axis 2 axes 3 axes 3 axes LX px pour dii 7 3 STO Through the STO the energy supply of the drive 1 interrupted and the drive isn t enabled to produce a torque its necessary to enable the drive STO uncontrolled stop by switching off the energy of the motor consider if it s necessary to use a brake or others mechanical stopping sro type X12 axis A 9 8 STO2 X15 on axis 9s sto2 73568 Characteristics Inputs 07 _____ Curentat24Vdc ma pii VL deactivated This represent the working condition for drive and motor STO monitor by the bit b230 12 and b230 13 62 user s manual Parker Hannifin Manufacturing Srl 8 PARAMETERS AND PROGRAMMING torque speed
18. on again drive and repeat programming 4 11 Check sum parameters Set and save default parameters switch off and on again the drive and repeat programming 12 signature firmware The signature is not installed to send to repair 13 CANopen DS402 abort Check the connections connection 15 Default parameters Set and save default parameters switch off and on again the drive and repeat programming CANopen missing sync Check the connections Lie Hardware alarm Internal damage to send to repair see the SUB Alarms table 22 Ambient over temperature The ambient temperature in the electric cabinet 1s excessive gt 45 C Check the cooling fans for any restrictions to air flow PSU alarm See the par Alarms table 181 Parker Hannifin Manufacturing Srl user s manual TPDM Malfunction error code Alarm Remedies Pr23 29 Speed loop FBK Check the speed FBK settings initialization error Check the speed FBK connection Motor shaft in movement during the start up The encoder is not phased See the procedure Overloads digital outputs Check the load of the digital outputs Check the connection TripP x Hardware broken Internal damage to send to repair do dM 15 number Current limit The drive goes in mode due to an overload The display the current required 1 more than the current that shows can be supplied decimal Check
19. 5150 12 returns to 0 to indicate that engaging has been achieved Pr128 129 Master axis phase for release If b150 13 1 when W 0 2 1 the position of master 112 113 exceeds Pr128 129 Pr102 15 brought to position 1 and b150 13 returns to 0 to indicate that the positioner has been enabled and will control the release phase Engage cam with ramp This is the position on bd Load gt which the engage ramp related to the master starts Pr134 135 Slave cam position Read only parameter depends 0 2 1 mE of Pr102 that shows the position at the output of the EN cam Pr136 137 Engage cam ramp This is the step value performed W 1 2 mE by the slave during the engage ramp the value must less then half of slave axis module as W EN ES Eu 1 90 Parker Hannifin Manufacturing Srl user s manual TPDM Binary parameters b150 2 Position loop If the position loop works on absolute positions otherwise on slave axis module b150 3 Master phase shift command If 1 positioner module is used to W change the phase between the master and the slave or as the generator of the virtual axis When the final position Pr118 119 equals 116 117 this bit is automatically set to 0 Do not use this command together with Pr102 1 b150 6 Encoder input enable X19 If 1 the reading of the encoder master W 1 is enabled b150 8 Phase master axis enable If 1 t
20. Life guarding protocol is implemented and can be activated writing life time factor and guard time besides a missing guarding event guarding protocol can be triggered by a missing sync if b271 8 1 or a bus off condition In any case state machine present state of 45301 communication can be changed according to what is set in the object 0x1029 behaviour 0 enter pre operational 1 no change 2 stop Note NMT commands are handled every 1 024 msec so subsequent commands should be sent to the drive not closer than 1 204 msec including broadcast NMT commands 12 1 1 Dictionary object summary of ds301 in drive 0x1000 0 1001 0x1005 0x1006 0 100c Ox 100d 0x 1014 0x1017 0x1018 0x1029 0x1200 pdo 0 1400 PDO 2 rx communication parameters PDO 4 rx communication parameters PDO rx mapping parameters PDO 2 rx mapping parameters PDO 4 rx mapping parameters 0x1800 PDO 2 tx communication parameters PDO 4 tx communication parameters PDO 1 tx mapping parameters PDO 2 tx mapping parameters PDO 4 tx mapping parameters 0 1401 0 1403 Ox 1600 0 1601 0 1603 0 1801 0 1803 0x1a00 0 1a01 0 1 03 device type error register sync cob id communication cycle period guard time life time factor Cob Id Emergency object Producer heartbeat time Identity object Error behaviour SDO server param
21. b99 14 PROGRAM e CHANGE THE INSTRUCTIONS PLC b99 13 MUST BE 0 e WHEN THE OPERATING MODE IS CHANGED YOU MUST USE b99 11 TO LOAD THE DEFAULT PARAMETERS b40 2 MUST BE 0 e BEFORE CHANGING Pr31 BE SURE THAT b40 2 0 e THE SPEED REFERENCE WILL BE LIMITED TO THE VALUE OF Pr32 e USING THE TORQUE CONTROL Pr2 AND Pr3 MUST BE SET TO 1000 e TO USE THE ACTIVE OPERATING MODE b40 2 MUST 1 e IF YOU CANNOT MODIFY THE READ WRITE PARAMETERS USING THE KEYPAD BE SURE THAT E b99 7 IS 0 IF IT WAS 0 PROBABLY THE SAME PARAMETERS WERE MODIFIED BY THE PLC PROGRAM 179 Parker Hannifin Manufacturing Srl user s manual TPDM 17 Appendix E Switching Frequency The configuration of the frequency is realized only on A axis for all axes by the bit b231 9 and b231 11 231 9 231 11 8 kHz 0 0 2 4kHz 0 1 16 kHz L 1 1 9 The default configuration uses the full characteristics of the drive in some cases the switching frequency reduces the current See the following data 16 kHz ZEE 2A Peak output current 2 seo Ams 4 4 267 Ll peer em 5 Rated output 8 8 53 Pesk ouput a 15 76 19 5 Pesk ouput caren se 39 20 19 7 2 _ Peak ouput eso msl 60 42 The data in evidence are the default configuration of the drive Attention when the switching frequency is different to the
22. points on all The wiring between drive and motor there characters should be no inverted phases Take special care with motors where the connector is replaced by a terminal block it s easy to make a mistake Adhere strictly to the wiring diagrams Mechanical dimensioning reset only after default values have been loaded and saved can be only reset at the next power on 18 1 SUB Alarms table Malfunction error code SUB Alarms Remedies ES Check the main supply Hardware from 01 maximum reached Stall status of WFO p 3 7 FPGA watchdog alarm nternal damage to send to repair nternal damage to send to repair mm Emm 4 5 1 2 3 1 2 3 4 5 7 10 11 2 04 uu wE 14 2 2 Switch off drive Wai witch the drive Wait one minute 4 ADC onFPGAemor 0000 before of restart the drive 5 EEpromero Internaldamage to send to repair 7 6 7 EN 10 182 Parker Hannifin Manufacturing Srl user s manual TPDM Malfunction error code SUB Alarms Remedies ExpBoardchecksumemor ExpBoard EEprom program error ExpBoard not compatible 2 ExpBoard EEprom error ExpBoard ADC error 13 14 15 16 17 18 bitO Power supply not 3 phases Check the main supply Undervoltage PSU Check the main supply bit 1 Check the set up of the parameter
23. 1 analog input Moreover every TPDM model includes a terminal block common where there are voltage supply dedicated to the digital outputs reference 24Vdc or OVdc for the digital inputs mode PNP or NPN 2 channels dedicated to safe torque necessary to enable the drive 1n case of 2 axes the analog I Os of the terminal block X15 are dedicated to the control of safe torque of axis 2 the safe torque OFF in the terminal block common X12 is dedicated to the axes A B and when the TPDM model has 3 axes When TPDM model has or 2 axes the S T O in X12 is dedicated to the axis A while when the TPDM model has 2 axes the safe torque dedicated to the axis B 1s located in the terminal block X15 7 1 Digital 1 In X13 X14 X15 terminal blocks there are 4 digital inputs per each axis combined with binary parameters b90 0 b90 11 in according to the TPDM model The following table shows the details of each digital input reference Binary parameter Binary parameter Axis Terminal Digital input all axis all PRA b230 1 0 T ad 4 3 axes only for TPDM 3 axes These inputs can be PNP or NPN type and it s possible select the type trough the pin 3 of X12 Reference digital IN pin 3 to 0V PNP mode pin 3to 24V NPN mode The following table explains the selection mode 60 Parker Hannifin Manufacturing Srl user s manual TPDM Input Inputvoltage
24. 30 Parker Hannifin Manufacturing Srl user s manual TPDM 4 10 Motor connection diagrams chermo black nero 3 Black 2 I 7 4 l m ANC Plin Dp 1 ad whitesbianco Jam MIL motor connector 4 11 Resolver connection diagrams MIL resolver connector T A K 5 black B p yellow giallo meen verde 7 s m red rosso EE 12 ES white bianco 4 black nera 15 31 Parker Hannifin Manufacturing Srl user s manual TPDM 4 12 Signal cables connection The cable used for the analogue reference must be a shielded twisted pair The cable used to connect the signals of the simulated encoder must consist of three twisted pairs with a general shield Shielded cables are also recommended for digital inputs and outputs All cables must have a minimum section of 0 22 mm 4 13 Encoder connection ee black nero R 1 7 10 P gelo gialla cox cur green verde f B 1 65 f A red rossp 12 0 ee 1 ar anc ione om MET gray grigio TEDATA 13 p pue c ec o oe Oe oin FTAA 14 KE mem E Pee 0767 lt gt ae ENT block 15 OV OVA 4 14 Sinus
25. User s manual Rev 0 7 september 2012 Parker Hannifin Manufacturing Srl user s manual TPDM This user manual 15 for the standard version of the converter information in this user manual including methods techniques and concepts described herein are proprietary information of Parker Hannifin Manufacturing Srl and of its licensees and they shall not be copied or used without express authorization Parker Hannifin Manufacturing Srl is committed to a continuous product upgrade and reserves the right to modify products and user manuals at any time without prior notice No part of this user manual may be howsoever reproduced without previous consent by Parker Hannifin Manufacturing Srl Abbreviations b Binary parameter bit 0 25 d JjReadpsameer 0 Keypad display Keypad Cod 1209111700 Parker Hannifin Manufacturing Srl user s manual TPDM Index T SAFETY INSTRUCTONS RA 7 1 1 VID ONS 7 1 2 General mitormatioli 0 0 9 Gro WO ent 7 1 3 Safety instructions for transportation and 1 2 2 ee eee eee eee ee 8 1 4 Safety instructions for commissioning e eee 8 1 5 Safety instructions for operation S eene eoa eee Ax ar exo eae 9 1 6 Safe
26. pointer Enable message 48 Virtual speed encoder encoder CAN out CAN setpoint 158 Inout encoder Multiplicative factor Pointer encoder CAN counter b70 8 X1 Pr157 156 CAN Pr202 CAN setpoint Address encoder divisor CAN read 119 Parker Hannifin Manufacturing Srl user s manual TPDM 10 Programming digital inputs outputs 10 1 The pico PLC The internal pico PLC 15 used to connect the external world inputs outputs with the world of the parameters of the drive The PLC can be used to copy digital input to a binary parameter to copy a binary parameter to a digital output and to execute mathematical and Boolean operations The PLC program must be inserted as a list of instructions by using the keyboard To change the instructions b99 13 must be set to zero The default parameter setting b99 12 corresponds to a PLC program see Appendix written for a large number of applications In most cases it 15 not necessary to program the PLC itself The main features of the pico PLC are Program steps 256 scanning time 6 144 ms number of timers 2 number of instructions 15 stack depth 1 mathematical operations 16 32 bits fast inputs 2 512 us Decimal parameters PLC re Pr73 Constantvalue Double Word 1 Pr74 Constant value 2 Double Word 2 Pr75 Constant value 10 Double Word Jof Pr76 Constantvalue 100 Double Word 10
27. Master position Positioning Acceleration Pr109 119 118 Target position Master position Master axis position 5150 3 Master module Master position 8181412 Select CAM1 table Position slave b180 0 N I Slave axis module Pr115 114 CAM data Pr121 120 Pr111 110 Master reference 123 122 Master axis phase Master quota and master rephasing ida detector Din 1 6 b70 0 1508 9 Master axis phase captured Master axis position Pr113 112 Positive edge detector Master axis captured user s manual TPDM 14 Change of the value slave axis module in phase No source Slave axis P145 114 module c Speed mode b180 3 N Pr175 174 Engageldisengage cam phase b150 12 Ramp time for Pr100 Regulator position reference Y 127 126 Immediate electronic cam Engage master axis phase b150 15 dd Immediate electronic cam Release master axis phase Set Pr102 Set Pr102 93 Parker Hannifin Manufacturing Srl user s manual TPDM 9 4 4 OPM 14 Linear engage CAM With OPMIA exists the possibility to progr
28. Pr179 178 9500 execution space Pr102 14 calculation scale command Scale CAM2 Pr185 184 10000 module Pr177 176 0 start point Pr179 178 3000 execution space Pr102 13 calculation scale command After the default of operating mode the CAMZ2 generator operates on table 3 but through the management of bit b182 6 and b181 7 1s possible to change the reference table The reference of position given from the algebraic sum of the three generators pass through a ratio block that Pr182 and 183 before being transmitted to the loop of position 100 Parker Hannifin Manufacturing Srl user s manual TPDM 9 5 2 1 Automatic activation of CAM tables Beside enabling tables on programmable master phase or by immediate command as shown above the drive offers a default function providing for an automatic sequence to enable the tables in order to concur some functionalities like engage and disengage cam with connection tables The operation is enabled through the activation of bit b180 15 1 and by using bit 181 4 command in order to start sequence TabO and bit 231 14 command in order to start per a disengaging sequence The switch between active tables always occurs during master phase 0 Tabl and Tab2 are used as a link during the switch between TabO and Tab3 and the other way round and therefore they cannot be active longer than one master module Master with positive speed Master with negative speed As shown in the figures the table swit
29. UO S 149 ASST Controlword or homme Mode tU ico ts 149 1201 2252 Status word Of homine THOU 25503 outer ioco MUR ee To Se 149 12 L6 OD eCt dICHONALY 150 12161 Objects denned m this Chaptet used i pu ase o 150 12 10 2 Objects denmed mother chapters oen oett set 150 aS ca 150 12 LL Objecto07CDh Home OP SOL baia 150 12 1712 sh Honna me LOO A Poe duo Roda dau 151 129 ObJect o099h Homine beate ia bete bt Lepus 151 12 1 7 4 Object 609Ah Homing 152 12 1 8 Funcional deserfpOTs seus qoo ema aeu US de 153 IJ tees arr tinto ds d Recta 153 12 1 8 1 1 Method 1 Homing on the negative limit switch and index pulse 153 12 1 8 1 2 Method 2 Homing on the positive limit switch and index pulse 154 12 1 8 1 3 Methods and 4 Homing on the positive home switch and index pul 154 12 1 8 1 4 Methods 5 and 6 Homing on the negative home switch and index pul 156 12 1 8 1 5 Methods 7
30. above the next target position x2 1s processed at t2 and reached at 13 velocity 2 1 ta s t t time Figure 18 Single set point If the bit change set immediately is 1 dashed line in Figure 17 the new target position will be active immediately In Figure 19 the drive receives the first target position at 0 At the time point t1 the drive receives a second target position The drive readapts the actual move to the new target position immediately velocity 5 t time Figure 19 Change set immediately 12 1 9 4 Functional description Figure 33 shows the meaning of the sub function position reached Symmetrically around the target position a window 15 defined for the accepted position range If a drive 1s situated in accepted position range over the time position window time the bit target reached bit 10 in the statusword 1 to set 164 Parker Hannifin Manufacturing Srl user s manual TPDM Position Accepted position range Position window lt Position window Position not reached gt lt Position reached Position not reached target position Figure 33 Position reached Figure 34 shows the meaning of the sub function following error 1n the profile position mode Symmetrically around the reference position a window 15 defined for the accepted following error tolerance If a drive 1s situated out of the accepted positi
31. address lt 4096 2055 With CANopen version you can use the tables by SDO as follow CANopen Tab 0 Point 0 254 Index 0x2004 Point 255 256 Index 0x2005 Tab 1 Point 0 254 Index 0x2006 Point 255 256 Index 0x2007 Tab 2 Point 0 254 Index 0x2008 Point 255 256 Index 0x2009 Tab 3 Point 0 254 Index 0x200A Point 255 256 Index 0 200 102 Sub index 1 255 Sub index 1 2 Sub index 1 255 Sub index 1 2 Sub index 1 255 Sub index 1 2 Sub index 1 255 Sub index 1 2 Parker Hannifin Manufacturing Srl Decimal parameters Par Pr101 100 Pr102 Pr103 Pr104 Pr105 Pr106 Pr108 Pr109 Pr111 110 Pr113 112 Pr115 114 Pr117 116 Pr119 118 Pr121 120 Pr123 122 Pr125 124 Pr127 126 Descipion O Reference module position addition as module of POS CAM1 CAM2 Function selector The value indicates one predetermined function see the predetermined function table Once that the command has been given the table comes generated with the selected function It is an auto reset parameter Pointer to the cam table Through 103 it is possible to approach the table cam Pr104 will contain the value of the Pr103 element of the Table element value Pr 104 15 the value of 103 element of the table Value virtual table b181 8 Value in degree to Feed forward scale Regime speed positioner Is the regime speed used during the generation of t
32. displayed In xx Indicates instruction xx of the PLC program donE Is displayed for about 1 second whenever a command 15 sent rESet displayed for about 1 second whenever an alarm reset command is sent 599 10 triP x Indicates that the converter has malfunctioned If you cannot modify the read write parameters using the keypad be sure that b99 7 is 0 is it was 0 probably the same parameters were modified by the pico PLC program 43 Parker Hannifin Manufacturing Srl user s manual TPDM 5 1 SD card management The user can use a SD card to storage load files to program the drive Using the keypad it s possible to create the directories save files delete files format the card FAT16 and load files The directory has this structure Directory name Pnnnor APnnn parameter slv Fr Fron firmware tpd XX activation file The maximum file number available per directory 15 100 Functions Format l command to execute the quick format of the SD card require a previous format by PC FAT or Fat16 This command erases all files parameters firmware and activation files into the SD card New directory 9 cl to create the directory When the SD card is new or empty it s necessary create the structure to storage the file PAR by command and FW command F directories or the complete structure by command subdirectories Par
33. selection table 2 Positioning Speed Acceleration Target position S Slave position from cam Pr135 134 Gus Age Pr135 134 E Pr115 114 Slave axe b180 9 module b150 12 127 126 Engage phase b150 13 Disengage phase Position value Cam data Modulo asse slave Disengage Engage Single shot b181 15 b181 13 0181 14 user s manual Reference module position Pr101 100 Slave axis module Pr115 114 m Multiplicative factor of reference Regulation reference position Pr61 60 60 Divisor factorof reference b181 11 Auxiliary incremental counter Pr131 130 b181 9 b181 10 107 Parker Hannifin Manufacturing Srl user s manual TPDM 9 6 Basic functions The standard drive functions include protection functions whose parameters can be set such as automatic limitations of current delivered based on the estimated dissipation thermal image or i t drive and motor diagnostic functions always available to the user who can always check the drive status configuration functions for some drive inputs outputs the activation of parameter saving restoring procedures and further functions common to motion control equipment 9 6 1 Homing function homing function which 15 available exclusively with operating modes 13 14 or 15 provides a typic
34. step like function or pulses train b150 4 Profile direction Read only flag Indicates the direction of the motion of the positioner M El Axis engaging release This bit it used to engage 7 1 and ETE release 0 the axis from the input encoder reference M LR reference to 0 6150 11 2 reset Command that sets the position of the motor shaft Pr62 63 to the main reference Pr60 61 and of the positioner 116 117 by setting that of the electrical shaft to 0 b150 13 Final position evaluation enable disable Pr118 119 If 0 eventual modifications to Pr118 119 will not be considered b231 10 Tab0 enable profile R W b231 13 Enable 107 1 the parameter Pr107 is enabled as deceleration ramp and Pr109 defines only the acceleration ramp of the position profile 84 Parker Hannifin Manufacturing Srl user s manual TPDM OPMIS progress Acceleration Pr108 Speed Target position pM 209 Ref Position Motor ref 0 0150 10 Pr61 60 22 Profile direction em Reset 2 Actual position Posizione attuale Ref Position Motor ref 4 Pr1 17 4 16 Pr1 1 5 1 14 Velocit in somma 22 b150 13 Encoder IN rotation speed Additional speed Pr54 Pr104 Profile position Pr119 118 Master reference b1503
35. 0 7 July 2012 UL certified STO certified For other information log into website www parker eme com Arranges to the manual data can be made by the manufacturer without advance notice The data shown in the manual correspond to the specifications relating to the revision date 194 Parker Worldwide Europe Middle East Africa AE United Arab Emirates Dubai Tel 4971 4 8127100 parker me parker com AT Austria Wiener Neustadt Tel 43 0 2622 23501 0 parker austria parker com AT Eastern Europe Wiener Neustadt Tel 43 0 2622 23501 900 parker easteurope parker com AZ Azerbaijan Baku Tel 994 50 2233 458 parker azerbaijan parker com BE LU Belgium Nivelles Tel 32 0 67 280 900 parker belgium parker com BY Belarus Minsk Tel 375 17 209 9399 parker belarus parker com CH Switzerland Etoy Tel 41 0 21 821 87 00 parker switzerland parker com CZ Czech Republic Klecany Tel 420 284 083 111 parker czechrepublice parker com DE Germany Kaarst Tel 49 0 2131 4016 0 parker germany parker com DK Denmark Ballerup Tel 45 43 56 04 00 parker denmark parker com ES Spain Madrid Tel 34 902 330 001 parker spain parker com Fl Finland Vantaa Tel 358 0 20 753 2500 parker finland parker com FR France Contamine s Arve Tel 33 04 50 25 80 25 parker france parker com GR Greece Athens Tel 30 210 933 6450 parker greece parker com HU Hungary Bud
36. 0086h Motion prole aeta 162 12 17 3 Funcional desc EtpLiODus duo d uu eed eta 163 12 9 2 J nctonal descErpLHLODcsm 164 12 1 10 Interpolated Position Mode operative mode 202 166 12 1 10 1 Object 60COh Interpolation sub mode 167 12 1 10 2 Object 60C Ih Interpolation data 167 12 1 11 Mode Cyclic synchronous position operative mode 203 170 12 1 11 1 bale 171 12 1 11 2 Use of eontrolword and Status W Ord 172 12 1 11 3 Detaiu d object detutiofs 172 IZA 11 5 172 322 Velocity Ded Eat 173 ID ASS Object Torque OLS Cl dat E 173 Parker Hannifin Manufacturing Srl user s manual TPDM 174 12 1 12 1 CIPNE20 I DA ame T 33233735373 174 12 1 12 2 OPM202 DatatmeleES sei ee eeu tod dub 175 PARP 2 parameters E VerstOD enraiar E 175 13 APPENDIX A 65 1 104 3 1131
37. 1 millisecond If the acceleration deceleration ramps must be set differently you must go to the extended menu in order to access the Pr9 Pr10 e Pr11 parameters 16 Integral gain of the speed regulator Prl7 Speed regulator damping Pr19 Peak current supplied by the converter expressed as a percentage of the peak drive rating Pr29 Number of poles of the motor Pr32 Rated speed rpm Pr33 Rated current supplied by the converter which can be maintained indefinitely expressed as rated current of the motor A Pr35 Instantaneous current required by the motor expressed as a percentage of the peak drive rating Pb99 Bit parameter for the basic commands The extended menu offers access to all the parameters instructions of the pico PLC and SD menu in addition to those specified above 64 Parker Hannifin Manufacturing Srl user s manual TPDM A B C D E F UJ 65 U rX e Read write of the PrX parameter A value of the PrX parameter e Read write of the PrX parameter B value that depends on the values of and PrX e Read only parameter PrX indicates the value of A which can also be binary e Read write of binary parameter The position of the switch indicates bx y 0 e The value of the binary parameter bx y positions the switch e If Ais less than B C 1 true Otherwise 0 false e The value of G 1s the lowest value of A B C D E F e Only if A 1 B 1 and C 1 Otherwise 0 e If A
38. 12 2 OPM202 parameters Par Description Range Pr237 236 Speed reference opm202 R zx 0 1 Pr238 Cyclic CMD opm202 o 1l Pr23 Cyclic STAT opm202 1 Pr241 240 Speed reference FFWD _ 2 O 1 243 242 FBK Speed 2 0 1 Pr44 9 01 Pr245 Delta Syne 9000 1 3 Pr249 248 Interpolationtime 920 1 LR Pr261 260 Final position R 327 Pr263 262 FBK position R 42 Description Component calculation FF WD from position reference Pr250 Speed reference RPM 2 O 1 ofi 288 Position loop resolution selection The position W 12220 1229 loop resolution can be selected by parameter 288 Ranging from 12 to 20 bit The parameter change 15 effective the next time the drive 15 powered up b247 15 Watchdog This bit is set to at every block sync reception O R 12 1 12 3 OPM203 parameters E5 version EtherCAT optional code E5 realizes the messages in according to the CANopen DSP402 standard CoE EtherCAT CANopen DSP402 Field Def Pr233 Lifetimefactor 0410 6 1 Pr288 Position loop resolution selection The position loop resolution can be selected by parameter 288 Ranging from 12 to 20 bit The parameter change 15 effective the next time the drive 15 powered up Description Emergency disabled Enable SSC F
39. 126 value terminated the command bit reset automatically In phase electronic cam disengages Disengage command for cam command bit reset automatically mode when the master arrives to Pr129 128 value terminated the b180 0 Start Tab 0 on master phase of 168 169 1 enables TabO at the master phase declared in 169 168 The parameter values to start on master phase must be between and Pr111 110 master module b180 1 Start Tab 1 on master phase of Pr170 171 1 enables TabO at the W master phase declared in Pr171 170 The parameter values to start on master phase must be between 0 and Pr111 110 master module b180 2 Start Tab 2 on master phase of Pr172 173 1 enables TabO at the W master phase declared in Pr173 172 The parameter values to start on master phase must be between 0 and Pr111 110 master module b180 3 Start Tab 3 on master phase of Pr174 175 1 enables TabO at the W master phase declared in Pr175 174 The parameter values to start on master phase must be between 0 and Pr111 110 master module Immediate start Tab 0 21 TABO immediate activation Indication of which table 1 active in CAMI generator Immediate start Tab 1 21 immediate activation Indication ET TE of which table is active in generator Immediate start Tab 2 21 TAB2 immediate activation Indication of which table is active CAMI generator Immediate start Tab 3 21 TAB3 immediate activation Indic
40. 15 filter max frequency 2500 321 5 kHz b166 6 b166 7 Encoder Feedback max frequency 0 no filter max frequency SMHz 1 15 filter max frequency 2500 321 5 kHz b166 10 b166 11 Encoder X19 max frequency 0 no filter max frequency 5MHz 1 15 filter max frequency 2500 321 5 kHz b230 0 Resolution sec msec of acceleration deceleration ramps 1 0 1 W s krpm 8 000 2 sec krpm Pr9 10 and Pr11 0 0 001 s krpm Pr8 0 002 sec krpm Pr9 Pr10 and Pr11 b230 1 Digital IN 0 standard 1 in common If b230 1 0 the parameter Pb90 is standard If b230 1 1 the digital inputs are in b99 15 common only for the axis enabled b230 2 I t on Pr38 0 acc drive 00 W b230 3 1 pre alarm PSU brake chopper load 00 74 Parker Hannifin Manufacturing Srl user s manual TPDM 6230 4 230 5 1 pre alarm PSU temperature b230 6 6230 7 6230 8 1 pre alarm module temperature b230 9 1 pre alarm board temperature b230 10 Pico PLC 0 single axis 1 all pico PLC in one pico PLC common only multi axes b230 11 Parameters monitor Pr160 pointer Pr162 value Pr163 b230 12 STO1mon b230 13 STO2mon b230 15 Motor parameters calculation command By this command after changed the motor parameters b231 0 b231 1 Set encoder pulses as exponent on base 2 Decides the value of Pr44 b231 2 b231 3 IEC 61131 automatic memory extension 1 the pico PLC is disab
41. 176 Scale CAM start cam If 1s enabled when W arrives in this position in its module then starts the engage of CAMI Pr179 178 Scale CAM Space cam Pr182 Multiplicative factor of reference sum between W POS CAMI e CAM2 Pr183 Divisor factor of reference sum between POS CAMI e CAM2 P185 184 CAM2 axis module 104 Parker Hannifin Manufacturing Srl user s manual TPDM Binary parameters b150 2 Position loop If 21 the position loop is absolute value otherwise 15 in slave module b150 3 Command phase shift master If 21 positioner module comes used W in order to modify the phase between master and slave or like generator of virtual axis When the final position Pr118 119 16 equal to Pr116 117 this bit reset automatically Not use this command and Pr102 1 at the same time b150 6 Enable encoder input X19 If 21 enable the read of master W 1 encoder b150 8 Enable master axis phase If 21 enable the copy of the parameter W ni Pr123 122 on Pr113 112 at the first edge of input 0 or at zero MIB encoder 6150 10 Type 1 reset Reset command for motor positions and reference W 0 b150 11 Electronic cam engages with linear ramp Engage command for W cam mode when master arrives to 127 126 value with a linear MIB ramp defined in Pr133 132 and Pr137 136 b150 12 In phase electronic cam engage Engage command for cam mode W NE when the master arrives to Pr127
42. 2500 usec the position reference received 1s interpolated according the interpolation sub mode index 0x60c0 the interpolation may be cubic or linear If object 0x60c0 is the interpolation algorithm is linear otherwise if 1 is cubic with both position and velocity reference if 2 is cubic with position reference only If on the synchronous PDO 4 rx it is not mapped the position reference the position loop is not executed but the velocity reference received is set the velocity reference may be supplied in counts sec or RPM respectively mapping object 0 60 1 2 or 0 60 1 3 in this case external controller executes position loop Note In interpolated position mode factor group conversion are not active If the cycle time 15 less than 2500 usec the feedforward of velocity may be computed by the drive if bit 247 7 is set from the delta of position reference in the cycle time gain of feedforward component should be set accordingly with the cycle time Otherwise feedforward of velocity may be sent with PDO4 rx mapping in RPM units the object 0x60c1 3 Depending on the different algorithms of interpolation there is a different delay between the moment the target position is received on the PDO and validated by the sync and the moment when the target position is active in the trajectory setpoint of the motor In case of cycle time less than 2500 usec the position loop trajectory setpoint is immediately upgraded with the last received
43. 6076h gt Multiplier MEE Motor rated 6076h Drive control function Position actual value 6064h Following error actual value 99740 Velocity actual value gt 606Ch Velocity sensor actual value 6069h Torque actual value gt 6077h values are transformed if necessary from user defined units to normalized units such as increments with the relative functions A target position value or position offset outside the allowed range of the following error window around a position demand value for longer than the following error time out shall result in setting bit 13 following error in the statusword to 1 171 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 11 2 Use of controlword and statusword The cyclic synchronous position mode uses no mode specific bits of the controlword and three bits of the statusword for mode specific purposes Figure 64 shows the structure of the statusword Table 236 defines the values for bit 10 12 and 13 of the statusword 15 14 13 12 11 10 9 0 Followingerror Target position ignored Reserverd MSB LSB Bit 10 0 Reserved Reserved Bit11 0 Target position ignored Target position shall be used as input to position control loop Bit12 0 No following error Following error Definition of bit 10 bit 12 and bit 13 12 1 11 3 Detailed object definitions 12 1 11 3 1
44. APPARANCE character dimensions normal USB drivers FT232R install the drive and follow the cm file to settings the property You can find the drivers at the following address www ftdichip com Drivers VCP htm 127 Parker Hannifin Manufacturing Srl user s manual TPDM 11 SERIAL INTERFACE The serial communication of the converter is half duplex master slave The same serial line can be connected to up to 32 axes the configuration of the address 1s automatic or by setting a different serial address in each to the Pr27 parameter It is also possible to set the transmission speed by using the Pr26 parameter as specified in the table below Pr26 decimal base 9600 19200 38400 __ 8 57600 9 default 115200 For the connection diagrams see the section Connecting the serial line 111 Communication protocol The column on the right in the table above shows the time out value expressed in milliseconds for each communication speed This is the time within which the message must be sent beginning from the start of each message STX If a message 15 interrupted after this time the converter ignores what has been received and waits for the beginning of a new message The message consists of several consecutive bits The format of the bits 1s the following 1 start bit 9 bit of data defined by a following byte enclosed within brackets parity bit even 1 stop bit The structure of the message 16 the
45. CONCEPTS SPEED LOOP The main task of a converter is to control motor speed so that follows faithfully as possible the speed request that 1s generally known as the REFERENCE Faithfully following the reference means that the motor speed should equal the reference in static conditions and also that the motor speed is as equal as possible to the speed requested during dynamic conditions To carry out this task the converter must know some of the features of the motor used and the mechanical part attached to it This information is communicated to the converter by using the so called ADJUSTMENT PARAMETERS ERROR The error 15 the difference between the reference speed and the motor speed The size of the error 1s used by the speed loop in order to evaluate how much current must be supplied to the motor based on the adjustment parameters TORQUE The current that circulates in the windings of the motor 15 transformed in torque thereby allowing the motor to accelerate or decelerate GAIN Given the typical applications of the converter when we speak of gain in this document we refer to the rigidity of the axis better known as the STIFFNESS To better illustrate what stiffness means we can imagine a motor controlled by a converter with a requested speed of 0 The motor shaft will appear immobile but if we apply a torque to the shaft it will demonstrate an angle that 1s proportional to the torque applied Suppose we apply the rated torque o
46. HiRes DEEE iT 5 4 SS L 08 43 22 Fig 3 The optimal value of Pr17 will be attained with a response of the system as shown in figure 4 below 56 Parker Hannifin Manufacturing Srl user s manual TPDM Tek Run 500 5 5 Hi Res Uil B ee ee mene 1 08 44 37 Fig 4 An overshoot of about 10 must be obtained It is important that after overshoot undershoot does not occur Once the optimal value of Pr17 has been established we must analyse the movement of the axis If it moves without vibrations and acoustic noise the adjustment of the system is complete Otherwise we must repeat the preceding procedures with lower values of Pr16 In some applications it is possible to reduce acoustic noise by using a higher value of Pr18 Figure 5 shows that once the optimal adjustment has been achieved there is also an oscillation of the current that can produce acoustic noise and mechanical vibration By raising the value of 18 to 3 the situation is much improved fig 6 Tek Run 500 S s Sample T 08 46 27 57 Parker Hannifin Manufacturing Srl user s manual TPDM Tek Run 500 S s HiRes UB E r d I X T 8 2 at P MBPS LATER DEB Je GET LE DE MEE P EET 1 EDEN ce RERO coe Ds INS 1 ae iE i i E ond i i B T 08 47 40 Fig 6 If mechanical parts are used which very
47. Mandatory Default Value 0 12 1 7 4 Object 609 Homing acceleration The homing acceleration establishes the acceleration to be used for all accelerations and decelerations with the standard homing modes and 15 given in acceleration units OBJECT DESCRIPTION ENTRY DESCRIPTION PDO Mapping Value Range UNSIGNED32 Default Value 152 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 8 Functional description By choosing a method of homing by writing a value to homing method will clearly establish homing signal positive limit switch negative limit switch home switch direction of actuation and where appropriate the position of the index pulse The home position and the zero position are offset by the home offset see the definition of home offset how this offset 1s used Various homing positions are illustrated the following diagrams An encircled number indicates the code for selection of this homing position The direction of movement 15 also indicated Further homing methods may be defined by the manufacturer using the negative values of homing method There are four sources of homing signal available these are the negative and positive limit switches the home switch and the index pulse from an encoder In the diagrams of homing sequences shown below the encoder count increases as the axle s position moves to the right in other words the left 15 the minimum position and t
48. Note b42 3 b42 4 enabled to receive a frequency direction input Selection the type of feedback Is possible choose between resolver and encoder see the par setting feedback T 642 11 Enable scope function via serial line b42 12 ASCI signature on ASCO command b42 14 Motor thermal sensor selection 0 standard SBC b42 15 84 130 2 and 3 reserved See the parameters Pr203 and Pr204 Command to set the main reference offset to 0 This command 15 R W used to automatically set the PrI parameter in order to automatically set the voltage offset on the main analogue reference to 0 This operation can be done only if the absolute value of the offset is less than 200 mV b94 2 Command phasing 1 0 W b94 3 Basic parameters key lock If set to 1 it is possible to modify basic parameters b944 Commandphasing2 1 1 1 O0 w _b94 8_ Value comparator See the section Basic functions b949 Value comparator See the section Basic functions 0 W 94 10 Value comparator See the section Basic functions 0 W 694 1 i 73 Parker Hannifin Manufacturing Srl user s manual TPDM e Type b99 6 Extended menu enable If set to 1 the extended menu 1s enabled W Attention this function 15 managed only by A axis for all axes b99 7 Safety If set to 1 parameters cannot be modified
49. Pr206 by the first axis connected to the PSU bit 2 Over temperature Check the environment temperature bit 3 Check the cooling fans and for any restrictions to air flow bit 4 Over load braking resistor Check the cycle and if it s necessary use an external braking resistor Temperature switch Check the connection of the temperature bit 5 switch X40 Short circuit on Braking control circuit 24 Over load DC bus The current required 1s more than the bit 6 current that can be supplied Over current on DC bus Check for any mechanical blockage and make sure the motor is the appropriate size for its current use Check the motor connections and any phase phase or phase ground short circuits Check the length and type of the motor cable in use Make sure a mains filter isn t connected to the motor supply configuration Check the configuration Pr206 of the bit 14 first axis connected to the PSU of the mains supply because it s not correct bit 15 Time out data exchange Check the serial connection 183 Parker Hannifin Manufacturing Srl user s manual TPDM 19 Appendix shield fastener Option code EXP GROUND to fix the cable shield to the ground Dimensions 80 mm x 150mm An example 184 Parker Hannifin Manufacturing Srl user s manu
50. acceleration and position control functions are carried out by special digital electronics In this section we explain how parameters are set and the meaning of each parameter We also provide the functional block diagram and the description of advanced functions The system 15 easy to use and flexible In the diagram below the general block diagram of the part of the converter that 1s controlled by parameters is presented analogue digital REFERENCE MANAGEMENT internal TORQUE DEMAND TORQUE OPERATING LIMIT MODE MANAGEMENT SPEED ALARMS WINDOW MANAGEMENT DIGITAL DOUBLE TORQUE ars ELECTR CONTROL and CAM CAN The main block diagram and the diagrams for special functions operating modes are described later in more detail How to associate inputs outputs to the parameters of the converter is described the chapter The pico PLC The parameters are divided on the basis of their function in the following way 63 Parker Hannifin Manufacturing Srl user s manual TPDM 0 49 Pr151 Pr167 Pr188 Pr280 PrS0 Pr7O Pr71 Pr99 pico PLC parameters Pr100 Pr150 Pr168 Pr187 Operating mode parameters From Pr151 to 163 pico PLC parameters From InO to In255 pico PLC instructions The units of measurement and the main resolutions of the parameters are Seconds 1000 revolutions minute 0 001 4096 steps revolution 1 4096 of a Position revolutio
51. and according to the fault reaction option code valid values 0 1 2 the motor is stopped and finally disabled sending an emergency message b272 9 2 9 Remote mode 1 Remote mode CANopen 0 remote disabled ean 10 Stationary brake command 1 Command to enable the stationary brake by CANopen controlword Note When in remote mode the bit b40 6 b40 2 and the parameters Pr8 Pr9 10 12 and Pr55 are handled by firmware according to CANopen network setting and commands and should not be modified by the user Note When in interpolated position mode Feed forward of speed enable in case of sync frequency is gt 400Hz set b247 7 1 b70 6 0 and b70 7 0 Otherwise when the frequency is lt 400Hz set b247 7 0 b70 6 0 and b70 7 0 12 1 12 1 OPM201 parameters Par Description 7 Range Def Ris Pr237 236 Speed positioner opm201 CUNT 239 238 Acceleration positioner PR 42 10110 241 240 Deceleration positioner opm201 R 0 1 243 242 Target positionopm201 0 1 Pr244 Acceleration positioneropm201 R gt 0 1 1245 Acceleration positioneropm201 R 174 Parker Hannifin Manufacturing Srl user s manual TPDM b247 0 Profile in execution 1 theory profile of the trapezoidal profile in execution b247 12 Enable FFWD speed 1 enables the FFWD on speed regulator of the W trapezoidal positioner 12 1
52. be stored by the user Otherwise Status of digital input 5 1f the bit b230 1 1 this input is commonfor the axis enabled only TPDM multi axis b90 6 Bit that can be stored If the bit b230 1 0 this is a bit that can stored by the user Otherwise Status of digital input 6 1 the bit b230 1 1 this input is commonfor the axis enabled only TPDM multi axis b90 7 that can be stored If the bit b230 1 0 this is a bit that can be stored by the user Otherwise Status of digital input if the bit b230 1 1 this input is commonfor the axis enabled only TPDM multi axis b90 8 that can be stored If the bit b230 1 0 this is a bit that can be stored by the user Otherwise Status of digital input 8 1f the bit b230 1 1 this input is commonfor the axis enabled only TPDM multi axis b90 9 Bit that can be stored If the bit b230 1 0 this is a bit that can stored by the user Otherwise Status of digital input 9 if the bit b230 1 1 this input is commonfor the axis enabled only TPDM multi axis b90 10 Bit that can be stored If the bit b230 1 0 this is a bit that can be stored by the user Otherwise Status of digital input 10 if the bit b230 1 1 this input is commonfor the axis enabled only TPDM multi axis b90 11 that be stored If the bit b230 1 0 this is a bit that can be stored by the user Otherwise Status of digital input 11 if the bit b230 1 1 this input is commonfor the axis enabled only TPDM multi ax
53. connection diagramas SER EE EESOSA SSS aN 31 4 12 Sinal cables COMME CIO ore eere OPI re v ea rae CUP WIN Tess Ure TY 32 4 13 Encoder osi ico 32 4 14 SS TAUSOVE AL EN COG Ia 32 4 15 Sin sordal Encoder EN DAC aes en ENS n VER Poen 33 4 16 inusordal Encoder ene ee 34 4 17 Sinusoidal Encoder Sensor pea 35 4 18 SinCos one sin wave per pole pitch e eee rece eee e ee eee eee eese eee eo eee eese eeeesssssscee 36 4 19 37 4 20 Analog and digital I Os 8 1 12 38 4 21 Frequency input output connection ee eee eee eee eee ee ette eese essa eee e tete esee sss 39 4 22 Connecting the drive to the digital lock ccce eee e ecce ee eee e eee ee eene eeu ue 40 4 23 CAIN Ime ConnectHol aoi er ERE 40 4 24
54. e g temperature limit job refused The status of the drive does not change The cause of this warning may be found by reading the fault code parameter The bit 1s set and reset by the device If a fault on static brake occurs it 1s reported on bit7 warning 142 Parker Hannifin Manufacturing Srl user s manual TPDM BIT This bit may be used by a drive manufacturer to implement any manufacturer specific functionality BIT 9 REMOTE If bit 9 1s set then parameters may be modified via the CAN network and the drive executes the content of a command message If the bit remote 1 reset then the drive 1s local mode and will not execute the command message The drive may transmit messages containing valid actual values like a position actual value depending on the actual drive configuration The drive will accept accesses via SDO local mode BIT 10 TARGET REACHED If bit 10 is set by the drive then a set point has been reached The set point is dependent on the operating mode The description 15 situated the chapter of the special mode The change of a target value by software alters this bit If quick stop option code 18 5 6 7 or 8 this bit must be set when the quick stop operation 15 finished and the drive 1s halted If halt occurred and the drive has halted then this bit 15 set too BIT 11 INTERNAL LIMIT ACTIVE This bit set by the drive indicates that an internal limitation 1s active current clamping 15 ac
55. earth Keep the power side drive and control side PLC or NC physically separated by isolating metal mounting plates Inside the electrical cabinet the two plates must be connected through a copper Strap 4 1 3 General suggestions on cable connections Avoid routing noise emitting cables parallel with clean cables Avoid parallel cables especially in the vicinity of the filter ensure physical separation Avoid cable loops keep cables as much short as possible and close to the common potential In particular keep the main cables separate from motor cables If the motor is of the embedded brake type keep the 24Vdc brake cables separate from the other cables resolver and motor 20 Parker Hannifin Manufacturing Srl user s manual TPDM 4 2 Dimensions and weights 360mm Lenght Height Depht Size mm mm mm i 30 97g 10 without connectors with clamps TPDM Weight Size axis 2 axis 3 axis 2 68g 2 Parker Hannifin Manufacturing Srl user s manual TPDM 4 3 Mounting instructions IMPORTANT Do not install in hazardous environments Fasten the drive the cabinet using the reamed holes on the mounting plate see illustration L p V h J 7 Y jou 21 D10 r Size 1 100
56. easily tend to enter into oscillation we recommend you use very low values of Pr16 In this configuration the TPDM typically dampens the torque request of the motor in order to avoid triggering mechanical oscillations This configuration 15 shown in figure 7 Run 250 5 5 HiRes WEEE ERN gj MEME 08 50 13 58 Parker Hannifin Manufacturing Srl user s manual TPDM ADJUSTMENT WITHOUT USING INSTRUMENTATION If you do not have an oscilloscope you must A Determine the value of 16 as described above B Determine the Pr17 parameter by using the following formula 15341 Pr16 J Nm 17 1488 picco where is total inertia motor load expressed kgm Nm picco 15 the available torque with the peak current of the converter C Turn on the converter and use the external control to move the axis Move Pr17 to find the value where the axis seems to move best D Estimate the value of Pr18 by using the following formula Pr17 Pr18 0 68 16 If the result 15 less than 1 Pr18 must be set to 1 If the adjustment is not satisfactory repeat the procedure with lower values of Pr16 59 Parker Hannifin Manufacturing Srl user s manual TPDM 7 DIGITAL I Os and S T O In according to the model the TPDM drive includes per each axis 4 digital inputs type PNP or NPN selected by the reference 2 digital outputs require the supply 1 analog output
57. enabling 3 if positive feedback 4 wrong motor poles tolerance 22 5 electric degrees 5 if drive not ready Pr23 0 or open inrush Phasing result 1 if positive result of the b41 6 procedure and necessary condition for drive OK b41 4 50 Parker Hannifin Manufacturing Srl user s manual TPDM 6 6 2 2 phasing b94 4 actives this procedure The parameters are shown in the table below Notes 196 To insert number of the step to turn encoder 32767 1024 b94 4 Command phasing 2 It s necessary to disable the software b40 9 0 enable the hardware b41 5 1 and driver OK Pr23 0 The motor executes a vibration the standing depends to the type of the motor and to the load Pr89 Status 0 1f positive result 2 wrong enabling 5 if drive not ready Pr23 0 or open inrush 6 Pr201 parameter calculated frequency of vibration 15 different of 25 unit from starting value 7 Pr201 parameter calculated frequency of vibration exceeds 200 unit max value b41 6 Phasing result 1 if positive result of the procedure and necessary condition for drive OK b41 4 The calculated value of Pr201 at the end of the procedure if it is save it permits at the new start up that the procedure starts from this value and if the mechanical conditions don t change is made only one vibration of standing fixed by Pr201 N B during the phasing procedure the motor must be motionless so if the motor is on vertic
58. following STX CMD ADDR BK LUN PAR DO Dn where STX 7E indicator of transmission start If a field in the message different from STX assumes the value 7E this field is followed by a 0 00 so that it will not be interpreted as STX CMD ADDR command and address of the peripheral device This is never 0 This data 15 composed in the following way the first 5 bits bits 0 4 define the address of the converter from 0 to 31 the remaining 3 bits bits 5 7 define the type of message sent as described in the following table 1 O O 1 converterresponse 0 0 0 0 2 O I O readingapico PLCinstruction 3 O 1 1 writingapico PLCinstruction 4 1 O0 O Jgreadingaparmetr 5 1 O 1 writingaparameter 6 1 1 O bitmodification 128 Parker Hannifin Manufacturing Srl user s manual TPDM BK LUN LUN field first 3 bits indicates the number of bytes of the data transmitted a parameter or a PLC instruction the values can range from 1 to 4 This value does not include eventual 0 characters 00 which are inserted after the values that coincide with the character of transmission start 7E The length of each parameter is two bytes The BK field 15 represented by the 5 most significant bits and represents the 5 most significant bits of the parameter address PAR write read address of the parameter or PLC in
59. index pulse to either to the left or the right of the point where the home switch changes state If the initial position is sited so that the direction of movement must reverse during homing the point at which the reversal takes place 15 anywhere after a change of state of the home switch ji Giessen ee Index pulse Home switch Figure 25 Homing on the negative home switch and index pulse 12 1 8 1 5 Methods 7 to 14 Homing on the home switch and index pulse These methods use a home switch which 15 active over only portion of the travel effect the switch has a momentary action as axle s position sweeps past the switch Using methods 7 to 10 the initial direction of movement 1 to the right and using methods 11 to 14 the initial direction of movement 1 to the left except if the home switch 15 active at the start of the motion In this case the initial direction of motion 15 Dependent on the edge being sought The home position 1 at the index pulse on either side of the rising or falling edges of the home switch as shown in the following two diagrams If the initial direction of movement leads away from the home switch the drive must reverse on encountering the relevant limit switch 156 Parker Hannifin Manufacturing Srl user s manual TPDM 1 05
60. mid travel most of the methods also use the index zero pulse train from an incremental encoder Control word Status word Homing option code Homing speed Homing Position demand value Homing acceleration Home offset Figure 20 The homing function 12 1 5 1 Input data description The user can specify the speeds acceleration and the method of homing There is a further object home offset which allows the user to displace zero in 5 coordinate system from the home position There are two homing speeds in a typical cycle the faster speed 1s used to find the home switch and the slower speed 15 used to find the index pulse The manufacturer 15 allowed some 148 Parker Hannifin Manufacturing Srl user s manual TPDM discretion in the use of these speeds as the response to the signals may be dependent upon the hardware used 12 1 5 2 Output data description There is no output data except for those bits in the statusword which return the status or result of the homing process and the demand to the position control loops 12 1 5 3 Internal states The homing mode will control by the bits of the controlword and statusword 12 1 5 3 1 Controlword of homing mode 159 8 76 5 4 3 0 Halt Homing operation start MSB LSB 0 Homing mode inactive Start homing mode Homing operation st
61. motor phases set the command 699 9 1 and start again the drive 6 6 4 Motor phases In this paragraph is showed a procedure not necessary for the motors of the S B C Division essential for the motor connection because allows to find the motor phases AZU The procedures shown in this document are dangerous for the operator and could damage the motor under test A qualified and trained AN Cue personnel with advanced skills in electronics and drive technology is therefore needed the operator must be sure that these procedures are proceeding in safety condition Necessary instruments power supply 24Vdc with output current equal or higher to the rated current of the motor under test Verify that the phase phase resistance of the motor limits the current at the rated value with 24V voltage applied Necessary requisites motor free without load and inertia applied Procedure connect the positive pin of the 24Vdc supply voltage at one motor phase assign name A at this phase Connect the negative pin at one of the other phases at random Feeding the circuit the rotor will turn and to assume a new position Observing the motor shaft move the negative pin of the 24Vdc voltage on the other phase if the rotor turns counter clockwise watching frontally the drive shaft the phase connected to the negative pin 1s the phase C otherwise if the rotor turns clockwise this phase connected to the negative pin 15 the phase B
62. position VAR Mandatory if pp or pe supported EN TRY DESCRIPTION 12 1 9 2 3 Object 6081 Profile velocity The profile velocity 1s the velocity normally attained at the end of the acceleration ramp during a profiled move and 1s valid for both directions of motion The profile velocity 1s given in user defined speed units It 15 converted to position increments per second using the velocity encoder factor OBJECT DESCRIPTION ENTRY DESCRIPTION Mandatory if pp or pv supported 12 1 9 2 4 Object 6083 Profile acceleration deceleration The profile acceleration deceleration 1s given in user defined acceleration units It is 2 converted to position increments per second using normalizing factors 161 Parker Hannifin Manufacturing Srl user s manual TPDM OBJECT DESCRIPTIION INDEX 6083h Profile acceleration deceleration Object Code Data Type UNSIGNED32 Mandatory if pp or pv supported ENTRY DESCRIPTION PDO Mapping Value Range UNSIGNED32 Default Value 12 1 9 2 5 Object 6085 Quick stop deceleration The quick stop deceleration is the deceleration used to stop the motor if the Quick Stop command is given and the quick stop option code see 605Ah 1s set to 2 The quick stop deceleration 1s given in the same units as the profile acceleration OBJECT DESCRIPTION INDEX 6085h Quick stop deceleration Object Code Data Type UNSIGNED32 ENTRY DESCRIP
63. processed in the drive unit This minimizes reaction times within a control program on a host computer DATA New setpoint Change set immediately Setpoint acknowledge 3 5 Figure 17 Set point transmission from a host computer 163 Parker Hannifin Manufacturing Srl user s manual TPDM Figure 17 Figure 18 and Figure 19 show the difference between the set of set points mode and the single set point mode The initial status of the bit change set immediately in controlword determines which mode is used To keep simple these examples only trapezoidal moves are used If the bit change set immediately is 0 continuously drawn line in Figure 17 a single set point is expected by the drive 1 After data 1s applied to the drive a host signals that the data is valid by changing the bit new set point to 1 in the controlword 2 The drive responds with set point acknowledge set to 1 in the statusword 3 after it recognized and buffered the new valid data Now the host may release new set point 4 and afterwards the drive signals with set point acknowledge equal 0 its ability to accept new data again 5 In Figure 18 this mechanism results in a velocity of zero after ramping down in order to reach a target position xl at tl After signaling to the host that the set point is reached like described
64. protocol the function can use other two timers 0x2065 and 0 2067 objects to set the delay time to open or close the motor brake The release management of brake is executed by two ways e innormal condition or low priority alarm e inemergency or high priority alarm In the first case the brake 1s released when the motor is stopped after a deceleration ramp in according to the fault reaction code option In emergency the brake is released immediately The alarms of the drive be devise high priority or low priority alarms Checksum parameters Signature Default PSU alarm Feedback initialization 25 115 Parker Hannifin Manufacturing Srl user s manual TPDM 116 Parker Hannifin Manufacturing Srl user s manual TPDM Follows a representation of management Quick stop Dec ramp Motor speed Drake Brake closed closed lt gt RUN status Request enable CMD Mechanical brake CMD STOP b40 6 CMD Operational enable Timer 3 Gules stop 0 2067 Timer 0 2065 lt gt 0 2068 Timer 0x2066 lt gt 252 253 Parameters Delay time to operational enable brake opened Using the 05402 protocol in remote this value 1s insert at the 6 144ms start up of the drive into the object 0x2068 Pr253 Delay time to operational disable brake closed Using Icount the DS402 protocol in remote this value is insert at
65. rel softw 26 It s the deceleration ramp of the position profile 108 Full speed positioner This is the full speed R W 029000 1000 I that will be used during the generation of the position profile 93 Parker Hannifin Manufacturing Srl user s manual TPDM 109 Acceleration ramp positioner This is acceleration ramp that will be used during the positioning profile If b231 13 0 this parameter defines the acceleration and deceleration ramps of the position profile Pr114 115 Actual position electrical shaft Read only parameter Indicates the actual position with reference to the electrical shaft Pr116 117 Actual position positioner Read only parameter Indicates the actual position with R W reference to the trapezoidal profile Pr118 119 Final position positioner Used to set the final position that is desired for the generator of the trapezoidal profile based on 4096 steps per revolution Profile selection from Tab 0 RWI 0 Description b150 0 Active positioner During the positioning Pr118 119 b Pr116 117 this bit is high 150 2 Engaged electrical shaft During the engaging phase when the ramp Pr103 is not 0 this bit indicates the end of the transitory phase b150 3 Encoder in selection If 0 the encoder input conditioned by Pr52 and Pr53 1s used as the master for the electrical axis function If 1 it updates directly Pr118 119 to execute
66. s manual TPDM 12 1 2 5 Object 605A Quick stop option code The parameter quick stop option code determines what action should be taken 1 the Quick Stop Function 15 executed OBJECT DESCRIPTION ENTRY DESCRIPTION INDEX INTEGER 16 DATA DESCRIPTION disable drive function slow down on slow down ramp slow down on quick stop ramp slow down on slow down ramp and stay in QUICK STOP 6 slow down on quick stop ramp and stay in QUICK STOP 12 1 2 6 Object 605 Fault reaction option code The parameter Fault reaction option code determines what action should be taken if a fault occurs OBJECT DESCRIPTION INDEX ENTRY DESCRIPTION PDO Mapping Value Range INTEGERI6 Default Value 145 Parker Hannifin Manufacturing Srl user s manual TPDM DATA DESCRIPTION 32768 1 manufacturer Specific 1 0 disable drive motor is free to rotate slow down on slow down ramp slow down on quick stop ramp 12 1 2 7 Object 6060 Modes of operation The parameter modes of operation switches the actually choosen operation mode OBJECT DESCRIPTION ENTRY DESCRIPTION DATA DESCRIPTION Profile Position Mode 6 Homing Mode Interpolated Position Mode NOTE A read of modes of operation shows only the value of modes of operation The actual mode of the drive is reflected 1n the object modes of operation display It may be changed by writing to modes of operation 12 1 2 8 Object 6061h Modes of o
67. status of the drive 15 configured to 400VAC 560 DC For all other cases it s necessary to set correct value of the voltage and the configuration must be executed only by the first axis connected to the PSU device To activate the new configuration it s necessary to save the parameter and restart the PSU unit Pr208 Braking resistance In Q Not used 40 Pr209 Power of the braking resistance In W Not used 120 R Pr217 Selection 0 synchronous motor 1 asynchronous 0 2 R W motor 2 Asynchronous motor without feedback 0 M rotative brushless motor 1 asynchronous motor 4 poles to vectorial control with sensor 2 Asynchronous motor V F controlled Pr218 Base speed async Asynchronous motor speed 1 rpm R W synchronism conditions M 60xf Pr218 Pr219 SLIP ASYNC Asynchronous motor slip 0 327067 PETS rpm M Pr220 MAGN CURR ASINC Asynchronous motor magnetizing 0732767 R W current 220 3 1 0 Dove cos g in cui V Pr308 I Pr33 nx 43 x V xI Pr283 Speed FFWD gain To enable the gain set value 0 2000 R W calculated see the par feed forward speed loop If the value is 0 FFWD gain is disabled Pr284 Speed FFWD monitor see the par feed forward speed 0 100 0 LEER loop 70 Parker Hannifin Manufacturing Srl user s manual TPDM r285 T
68. the base unit byte of the message All messages must be terminated with a time out which is a function of the speed well defined to be considered valid and must have the exact parity and checksum The converter responds to a request or to a data send only if the message has been received correctly In the case of an error in the message no response is transmitted The only exception 15 message type 7 that is used to send data with a single message to all the converters connected to the serial line Initializing and managing the serial line The converter 15 delivered with auto addressing Pr27 and a speed of 115200 bps 26 9 To modify the configuration first set the speed in Pr26 then disable the auto addressing by b230 6 1 and after set the serial address in Pr27 and finally initialise it by issuing the command b42 3 Use the b99 15 command to store the configuration Each pico PLC instruction occupies 2 or 4 bytes whose format is the following Since the maximum length of each instruction in 2 bytes and the total area available in the PLC is 512 bytes the PLC program can have at the most 256 instructions 130 Parker Hannifin Manufacturing Srl user s manual TPDM AND Pay 24 142 15 The first 4 bits bO b3 of the first byte in each instruction contain the instruction code In the first 8 instructions the table LD ORN and the SET and RES instructions the remaining 4 bit of the first byte b4 b7 contain the
69. the home position by adding the home offset to the home position subsequent absolute moves shall be taken relative to this new zero position This is illustrated in the following diagram Home Zero position position HOME OFFSET gt Figure 21 Home offset If home offset is not implemented then it shall be zero OBJECT DESCRIPTION Data INTEGER32 150 Parker Hannifin Manufacturing Srl user s manual TPDM ENTRY DESCRIPTION PDO Mapping Possible Value Range INTEGER32 Default Value 00000 12 1 7 2 Object 6098 Homing method The homing method object determines the method that will be used during homing OBJECT DESCRIPTION INDEX _ Mandatory if hm supported ENTRY DESCRIPTION Default Value 0 DATA DESCRIPTION 128 1 0 No homing operation required Methods 1 to 35 see the functional description 36 127 reserved 12 1 7 3 Object 6099 Homing speeds This entry in the object dictionary defines the speeds used during homing and 15 given velocity units OBJECT DESCRIPTION INDEX 06099 Homing speeds Object Code ARRAY Data UNSIGNED32 Mandatory if hm supported 151 Parker Hannifin Manufacturing Srl user s manual TPDM ENTRY DESCRIPTION Sub Index 00 Sub Index Speed during search for switch Entry Category Mandatory Access rw PDO Mapping Value Range UNSIGNED32 Default Value 0 0 0 O
70. the message 7E 20 Sixth example setting a bit to 0 Suppose we want to disable the converter via software b40 9 0 Suppose also that the converter has the serial address 0 The message to be sent 1s the following 7E CO 02 5 1 SFD 00 10 The converter responds with the message 7E 20 Seventh example writing a PLC instruction Suppose we want to set the first instruction of the PLC as LD 90 4 Suppose also that the converter has the serial address 0 The message to be sent 1s the following 7E 60 02 00 40 5 A SFC The converter responds with the message 7E 20 132 Parker Hannifin Manufacturing Srl user s manual TPDM 12 bus interface A CAN bus interface based on the physical layer ISO DIS11898 15 included on the converter The Data link layer 15 the full CAN version 2 0 part A ID 11 bit 12 14 dsp402 D version The CANbus node must be set through Pr49 with values from 1 to 127 Transmission speed depends 48 as the following table 0 1 1 2 61 20kps changes in speed address or function mode are activated using b42 3 command when the converter is powered on again In the CANopen implementation of drive an SDO channel is available standard cob id with a changeable timeout value mapped at the index 0x2020 as Unsigned 16 with a default value of 5000 1 unit 1 024 msec Both standard guarding protocols are a
71. the positioner 1s enabled and which will control the disengage phase D 2 engage ramp according to master position Pr135 134 Slave position from cam Only read and indicates 0 22 1 axe slave position in output to electronic cam independent from selector Pr102 Pr137 136 Cam engage ramp Defines the space to cover W 1 2 1 during engage ramp in slave steps value must however smaller of half of slave module m gt nicis MN CAN Pr155 Divisor factor of reference ENCODER CAN Pr157 156 Encoder CAN counter Pa E WENN 1 158 Encoder CAN pointer 7010 P r169 168 Master phase for engaging of Tab 0 W b180 0 When the master phase matches the programmed value then the slave engages to the master 15 enabled Pr171 170 Master phase for engaging of the Tab 1 b180 1 When the master phase matches the programmed value then the slave engages to the master is enabled Pr173 172 Master phase for engaging of the Tab 2 b180 2 When the master phase matches the programmed value then the slave engages to the master T AB2 15 enabled Pr175 174 Master phase for engaging of the Tab 3 1 b180 3 When master phase matches programmed value then the slave engages to the 1 master 15 enabled Pr177
72. to control the speed limit The torque reference will be the Pr7 main reference To set up the torque control you must first adjust the speed control in order to establish a stable system and then set Pr31 in order to program the operating mode by setting the default values with the command b99 11 Set Pr2 1000 10 V 100 0 of the torque b40 0 0 b40 12 0 b40 2 to enable the reserved reference and Pr100 to limit the maximum speed of the motor OPERATING MODE 1 PARAMETERS Note Maximum speed This parameter is used to limit 0 9000 3000 R W the absolute maximum speed of the motor during rpm M the torque function reserved reference reserved current 81 Parker Hannifin Manufacturing Srl user s manual TPDM 9 3 Digital Lock Positioner operating mode 13 Operating mode 13 includes the Digital Lock dynamic positioner and flow speed functions in order to use them at the same time The tracking function refers to the input frequency signal X19 connector set as an input encoder signal by setting b42 0 0 and b42 5 1 This encoder signal is counted at every end of the communication of A and B signals The counter of the motor position is incremented at the rate of 4096 steps per revolution The user can program the ratio between the master and the slave by using parameters Pr52 and Pr53 It 1s possible to choose the ramp to use during the engaging or release phase Pr103 See the connection diagrams
73. value y while the second byte contains the value Pa In the ADD SUB MUL e DIV instructions the second byte contains the value Pa the third byte the value Pb and the fourth byte the value Pc In the END instruction the second byte 1s not used In the FIN instruction the fifth bit b4 of the first byte selects the parameter b4 0 if it refers to Pb40 b4 1 if it refers to Pb150 the sixth b5 of the first byte is used for logical negation b5 0 the bit is copied b5 1 the bit 1s negated before being copied The second byte of the FIN instruction contains the value of y If the FIN instructions are used they must be the first instructions of the program and cannot be more than 2 They occupy the addressed from Oh to 3h If a FIN instruction 15 inserted beginning at the 4h address or after any other instruction the FIN instruction does not function and is ignored The instructions must follow each other beginning at address Oh and no byte can be left empty There is only one program and it 15 terminated with the END instruction 7 10 11 12 13 14 Examples of using serial line In order to better understand how to implement the communication protocol on the serial line some examples of each type of message are given below The values indicated are only indicative as examples First example reading a 1 byte parameter Suppose we want to read the value of the parameter Pr25 release software and t
74. 0 with Pr189 0 In other cases Pr188 Pr range in output 2047 counts as 10V Therefore if the parameter to monitor necessity more counts is necessary to attribute to 199 a such value to bring back the scale of reading of the parameter within 2047 counts 27 It s possible programmable output to show parameter value coming from other axis within the same module as indicated the following table 188 Value on analog output Pr of present axis 1000 Pr Pr of axis A 2000 Pr Pr of axis B 3000 Pr Pr of axis 9 6 9 Master reference There is one type of master reference e Encoder ref The type of reference signal must be connected to the relative connector see par frequency input output connection Each reference has a input counter that encoder signal 15 calculated on every edge of A and signal The counter of the motor position increases 4096 imp revolution It s possible to set the relation between master and slave with multiplicative and divisor factors 9 6 10 Multiturn absolute encoder phasing on zero machine With a multiturn absolute encoder initialize the absolute position read at power up on the motor position by following the procedure below position the mechanical axis on the desired machine point disable drive hardware b41 5 0 set reference of the operating mode b40 2 1 set desired position in Pr65 64 enter comm
75. 00 b99 9 Motor phase saved on absolute encoder EnDat interface 699 10 Command to reset alarms This command sets Pr23 and 24 to W 0 If the alarm continues it 15 displayed on the screen This command cannot be used if there 15 check sum error Pr23 10 11 In this case it 1s necessary to set the default parameters b99 12 and then reset the alarm Default values of the parameters in operating mode This command sets the operating mode parameters to the default values The command 15 executed only if b40 2 0 Default values This command sets all parameters to the default b99 1 b99 12 values and sets those used by the operating mode to O Furthermore it sets the pico PLC program as described in Appendix There 1s a check sum alarm Pr23 and Pr24 will be set to thereby permitting the alarm to be reset The command is executed only if b99 13 0 b99 13 b99 14 Storing of the pico PLC instructions This command saves the pico PLC program It cannot be used if a check sum alarm has been indicated In this case it is necessary to set the default parameters reset the alarm and then store the new parameters Storing of parameters This command stores all parameters It cannot be used if a check sum alarm has been indicated In this case it 15 necessary to set the default parameters reset the alarm and then store the new parameters Encoder Input max frequency 0 no filter max frequency SMHz 1
76. 0m with See above The motor cable must be encoder Hiperface shielded DSL Resolver 60m The conductor conductor The resolver cable must capacitance for the length consist of four used cannot exceed IO nF individually shielded and and the section cannot be insulated twisted pairs less than 0 22 mm protected by a shield Supply 4x0 5 mm The cable must be Sense Signals 12x0 14 mm shielded Encoder Hiperface 35m 60m 1f the 4 twisted pairs and 4 T AV ofthe cable wirings shielded Incr Enc HALL permits to supply sensor the encoder The cables used for analogue signals must feature twisted and shielded pairs Also use shielded cables for the digital inputs and outputs 28 Parker Hannifin Manufacturing Srl user s manual TPDM 4 7 Protective Earth connections It 1 necessary to minimize the length of the individual cables to be grounded For this reason we recommend that a grounding bar is be placed as close as possible to the frequency converters Length m Width mm m grounding bar must be made of low inductance copper and must be mounted on electrical cabinet back plat The table shows the minimum dimensions vs length To connect the converter to the grounding bar use either one cable with a minimum section of 10 or two cables with the same section as power supply cables Use copper grounding cables TPDM PSU 4 8 Requirements for UL Compliance 4 8 1 Solid State Motor Overloa
77. 15 is not reset automatically but must be executed by the pico PLC or the serial line Analogous situation at every positive front of digital input 0 or from reference mark the value of 66 67 is captured and stored in Pr58 59 and 570 14 1s set to 1 to signal the event b70 14 is not reset automatically but must be executed by the pico PLC or the serial line Captured motor value Captured value Position control Zero encoder feedback q only with encoder hall sensor feedback 231 4 uH Digital Motor position input 1 bona 00 7 ZEM u Zero encoder an Feedback P position Captured value Pr58 58 b180 14 Captured master value 110 Parker Hannifin Manufacturing Srl user s manual TPDM The event be selected by the parameter 221 only for 570 14 PAR Description of the modes 221 Event selection only 070 14 event is selected in according to following table below O O 0 O Management indicated into the picture above 0 01 01 Zero index by Encoder IN Zero index by Encoder IN 0 0 1 I Zeroindex by Feedback Input 0 1 0 1 Digital positive edge 0 f1 f1 1 _ DigitalinputO negativeedge 110 0 1 _ Digital input 1 positiveedge 110 1 1 Digital input 1 negative edge 1 1 0 1 Digital input 2 positive edge 9 6 7 Output cam programmer This function gives a digital
78. 170 171 The values of the parameters for the activation on specific phase must be comprised between and the written module master Pr110 111 b180 2 Start Tab2 on master phase of Pr172 173 1 activates the Tab2 table W to the specified phase master in Pr172 173 The values of the parameters for the activation on specific phase must be comprised between and the written module master Pr110 111 b180 3 Start Tab3 on master phase of Pr174 175 1 activates the Tab3 table W to the specified phase master in Pr174 175 The values of the parameters for the activation on specific phase must be comprised between and the written module master Pr110 111 ee Caw gener generator Wl c generator 91 Parker Hannifin Manufacturing Srl user s manual TPDM generator generator 6180 14 0 Caught quota master frequency input 1 Caught quota Motor position Storage in Pr58 59 181 0 Enabled Tab 0 the Cam 1 TabO bI8I 1 Tab 1 in the Cam 1 TabOacivates 181 2 Enabled Tab 2 in the Cam 1 TabO 6181 3 Enabled Tab 3 the Cam 1 TabO activates 181 8 Enable virtual table Tab 3 with value in 105 W OO 6181 12 Activation change value of the slave module in phase W 0 92 Parker Hannifin Manufacturing Srl
79. DO mapping See CiA402 3 Integer 32 Default value O 12 1 11 3 3 Object 60B2h Torque offset This object shall provide the offset for the torque value The offset shall be given in per thousand rated torque In cyclic synchronous position mode this object contains the input value for torque feed forward NOTE The value itself 15 absolute and thus independent of how often it 15 transmitted over the communication system for example transmitted twice does not mean double value Object description INDEX 60B2h Torque offset Object code Integer 16 Entry description Integer 16 Default value O 173 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 12Drive parameters Some debug commands and parameters are added concerning CANopen Range Pioneer X 204 32767 CANOPEN SERS wD Sento J N _ 32767 Pr275 CANOPEN 05301 STATUS Status of 32768 communication profile 05301 Par Description EAR 1 8 Enable sync check 1 enables missing sync check DSP402 CANopen b272 1 Conversion of velocity 1 conversion in internal units of velocity rpm 256 and acceleration count sec 520 0 conversion of velocity and acceleration in rpm e msec krpm Touch Probe function 1 enable the touch probe function on 08402 R W 0 b272 3 Fault reaction sequence 1 a fault reaction sequence is entered
80. ESCRIPTION Default Value 0 DATA DESCRIPTION 2 Cubic interpolation only position 7 T 1 Cubic interpolation speed position Linear interpolation 1 32767 reserved 12 1 10 2 Object 60 1 Interpolation data record The interpolation data record are the data words which are necessary to perform the interpolation algorithm The number N of data words in the record is defined by interpolation data configuration The interpretation of the data words in interpolation data record may vary with the different possible interpolation modes as set by the interpolation sub mode select For the linear interpolation mode each interpolation data record simply can be regarded as a new position set point To describe a cubic spline interpolation e g four or more data words are needed for the spline coefficients and further interpolation parameters After the last item of an interpolation data record is written to the devices input buffer the pointer of the buffer is automatically incremented to the next buffer position OBJECT DESCRIPTION INDEX 60CIh Interpolation data record Object Code ARRAY Data INTEGER32 167 Parker Hannifin Manufacturing Srl user s manual TPDM ENTRY DESCRIPTION Sub Index 0 0 Sub Index Position setpoint in counts the first parameter of 1 function fip x1 XN Mandatory the second parameter of ip function fip x1 xN Optional Access the3 rd par
81. ETERS AND PROGRAMMING 1 2222 11 63 8 1 Main parameter LO LL LIUM 66 8 2 71 9 OPERATING MO DES a A 77 Parker Hannifin Manufacturing Srl user s manual TPDM 9 1 POSITION CODEOL esa a gata ase vaa ava adea a eco aa ua a 78 9 2 Torque control operating mode 1 sscccccccccrrssssssssssccccsccssssssssccccssccesssssssccccssssseees 81 9 3 Digital Lock Positioner operating mode 13 2 82 Dod TABO prones m Menor 92 9 4 Electronic cam operating mode 14 cccccccccsscsssssssscccccccscssssscsssccccssscsssssssscccsssseesess 86 DAN ibus acra tu 86 ped re 97 Doe ouis nieto toto 97 944 OPM Teme ar eid Se CAM iine to odio 94 9 5 Electronic cam mod LT aee E EE 96 OU 97 952 97 9 5 2 1 Automatic activation oT CANT rei tope tro 101 9 6
82. FOOX Delete file to erase the parameter files or the firmware file EZ List S file menu SD card This function permits to see the parameter files 1 8 or firmware file into directories and save axis parameters selected on SD o function saves a file with a progressive number where nnn identifies the file number and it s automatically incremented using the SAVE command function saves a file where nnn identifies the CAN node unique ISRUE file per axis Note before saving files it s necessary create the directory 986 load parameter into axis selected or the firmware into lt module from SD o 8 lis loaded into the selected axis After ETSE it s necessary to save the file into the axis through the commands b99 14 and b99 15 o Fr reserved function is the firmware and is unique per module require a firmware file FW the activation file and the rel software 3 or higher without the SD card the function menu 15 not available The SD card menu is after the pico PLC instructions and before of parameters reserved This file 15 necessary to enable the upgrade of the firmware Parker Hannifin Manufacturing Srl reserves the right to grant the activation file this funct
83. N v v status The function SAVE and LOAD are referred to the axis selected led on 5 1 1 Alarm codes SD file system doesn t exist SD broken Impossible to open create delete the file directory SD empty Impossible to add file because the max number of files has been reached Impossible to load the parameters area from file slv Impossible to load the PLC area from file slv Impossible to load the Tab area from file slv Impossible to load the Tabl area from file slv Impossible to load the Tab2 area from file slv 46 Parker Hannifin Manufacturing Srl user s manual TPDM 6 START UP In Its basic configuration the drive can control both synchronous permanent magnet motors brushless and asynchronous induction motors with or without feedback The setting of Pr217 can select either of the following Pr217 0 synchronous motor default setting Pr217 1 asynchronous motor with feedback Pr217 2 asynchronous motor without feedback control see the relative appendix The drive 15 supplied with default factory parameter settings see 206 to set the rated voltage See the following chapters for use and start up 6 1 Setting the default parameters If you want to set the default values of the converter as it was supplied by the manufacturer follow these instructions power off the converter using the hardware c
84. Object 60BO0 Position offset This object shall provide the offset of the target position The offset shall be given in user defined position units NOTE The value itself 15 absolute and thus independent of how often it 15 transmitted over the communication system for example transmitted twice does not mean double value Since the additive position value represents an offset to the target position it can be also used to control the drive with relative values with regard to the target position Object description INDEX 60BOh Object code VAR INTEGER 32 Entry description Access rw PDO mapping See CiA402 3 Integer 32 Default value O 172 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 11 3 2 Object 60B1h Velocity offset This object shall provide the offset for the velocity value The offset shall be given in user defined velocity units In cyclic synchronous position mode this object contains the input value for velocity feed forward NOTE The value itself is absolute and thus independent of how often it is transmitted over the communication system for example transmitted twice does not mean double value Since the additive velocity value represents an offset to the target velocity it can be also used to control the drive with relative values with regard to the target velocity Object description INDEX 60B lh Velocity offset Object code Integer 32 Entry description Access P
85. Pr35 15 equal to the pick current For the other parameters the range escape is 2047 counts 10 Therefore the parameter to monitor necessity more counts 15 necessary to attribute to Pr189 a such value to bring back the scale of reading of the parameter within the 2047 counts 271199 see par analogue outputs programmable Pr191 Scale 2 Defines the scaling of the pointer 2 to 32767 and it can be set 0 to reverse the count only with A and B 22196 positions in a shaft turn 199 Board temperature A R 69 Parker Hannifin Manufacturing Srl user s manual TPDM 2 Pr200 of turn for Multiturn encoder In case of encoder turn multiturn the parameter show the maximum turn of the device Pr201 Encoder vibration step see section encoder phasing Pr202 Encoder CAN address see section encoder HN Pr203 Motor temperature pre alarm The user can fix the motor count 832 R W temperature to set pre alarm flag b232 12 Pr204 Motor temperature alarm The user can fix the motor count 550 R W temperature to rise alarm event Pr205 Motor temperature Motor temperature estimate count O R Pr206 Nominal DC BUS When the drive is supplied in V DC continuous voltage the power supply voltage value must be written in this parameter This configuration 1s enabled at the start up the drive The default
86. RIPTION 139 Parker Hannifin Manufacturing Srl user s manual TPDM INDEX 6040h Object Code Data UNSIGNED16 ENTRY DESCRIPTION DATA DESCRIPTION The bits of the controlwordare defined as follows 15 11 10 9 8 7 6 4 3 2 1 0 0 Optional M Mandatory BITS 0 3 AND 7 Device control commands are triggered by the following bit patterns 1n the controlword Table 4 Device control commands bits marked X are irrelevant In the state SWITCHED ON the drive executes the functionality of this state It exists no functionality in the state SWITCHED ON The drive does not do any in this state 140 Parker Hannifin Manufacturing Srl user s manual TPDM BITS 4 5 6 AND 8 These bits are operation mode specific The description 1s situated 1n the chapter of the special mode The following table gives an overview Operation mode Velocity mode Profile velocity mode Profile torque mode rfg enable reserved reserved rfg unlock reserved reserved 8 02 Table 5 Mode specific bits controlword BITS 9 10 These bits are reserved for further use They are inactive by setting to zero If they have no special function they must be set to zero BITS 11 12 13 14 AND 15 These bits are manufacturer specific Bit 15 is a command of the static brake 12 1 2 2 Object 60411 Statusword The statusword indicates the current state of the drive No bits are latched The s
87. Sinusoidal Encoder Hall sensor Motor Interconnectron TPD Signal Connector X16 X17 X18 12 6 11 3 8 7 1 13 6 15 9 11 13 9 10 T 10 2 4 15 ECC 4 35 Parker Hannifin Manufacturing Srl user s manual TPDM 4 18 SinCos one sin wave per pole pitch Co 77 __ 2 T a i TE ss 8 D Bg E NE D ERES O BERSP JE lt d 169 Ee m lt LU MTI E E C mih E Po ox a Only with PowerROD motor drive side connect pin 4 with pin 2 and pin with pin 15 36 Parker Hannifin Manufacturing Srl user s manual TPDM 4 19 DSL feedback um s user s manual Parker Hannifin Manufacturing Srl 4 20 Analog and digital I Os connections xis gt VOC 3 lt 3 lt lt lt i xis X15 2 24 2j 2 2 X ee amp j Gru rm Axis X13 x onalog Uii Ref IN DOG LT aJ e ON 1 a STU AU COV 4 ATLL CANI n o AA II jig 24 dig UN e lnol
88. TION PDO Mapping Value Range UNSIGNED32 Default Value 12 1 9 2 6 Object 6086 Motion profile type The motion profile type 1s used to select the type of motion profile used to perform a profiled move Value Linear ramp trapezoidal profile 162 Parker Hannifin Manufacturing Srl user s manual TPDM OBJECT DESCRIPTION INDEX 6086h Motion profile type Object Code Data Type INTEGER16 Mandatory if pp or pv supported ENTRY DESCRIPTION PDO Mapping Value Range INTEGER 16 Default Value 0 12 1 9 3 Functional description Two different ways to apply target positions to a drive are supported by this device profile Set of set points After reaching the target position the drive unit immediately processes the next target position which results in a move where the velocity of the drive normally is not reduced to zero after achieving a set point Single set point After reaching the target position the drive unit signals this status to a host computer and then receives a new set point After reaching a target position the velocity normally is reduced to zero before starting a move to the next set point The two modes are controlled by the timing of the bits new set point and change set immediately in the controlword and set point acknowledge in the statusword These bits allow to set up request response mechanism in order to prepare set of set points while another set still is
89. The home position 15 at the index pulse found in the selected direction Index pulse l Lon Figure 29 Homing on the index pulse 12 1 8 1 10 Method 35 Homing on the current position In method 35 the current position 15 taken to be the home position 158 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 9 Profile position mode operative mode 201 In profile position mode Pr31 201 the buffer of targets allowed is 2 elemets long one for the profile in execution the other for the next the motion profile type only valid value 15 0 trapezoidal profile with linear ramp 12 1 9 1 Internal states The profile position mode will control by the bits of the controlword and statusword Index Object Name MO 6083h Profile acc dec UNSIGNED32 6085h Quick stop deceleration UNSIGNED32 rw O 6086h Motion profile type INTEGERI6 12 1 9 1 1 Controlword of profile position mode 59 8 7 6 5 Tek NUMEN MSB LSB New set Does not assume target position point 1l jAssumefargetposition Assume target position position immediately positioning Em positioning abs rel H Target position 1s an absolute value is a relative value position 1 a relative value C 0 Execute Execute positioning a 50 axle with profile deceleration if not supported with EU acceleration Table 9 Profile position mode bits of the contro
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91. al axe this system must be motionless without to use the brake the encoder simulation can t use zero encoder track as reference for reset the machine when the system uses an axis control and the FBK is an incremental encoder 51 Parker Hannifin Manufacturing Srl user s manual TPDM 6 6 3 Phasing procedure for encoder with EnDat Hiperface or DSL digital interface The procedure of encoder phasing is not necessary with Parker Hannifin Manufacturing s motor but when the system requires the phasing the procedure 1 and 2 of the phasing is the same for incremental encoder see paragraph Encoder phasing and it must finalized as follows With EnDat Hiperface or DSL digital interface single turn or multiturn after the phasing is possible to save this information so at every start up the phasing procedure isn t necessary for take it to bring the motor shaft in the position that 28 0 disable the drive and save with command b99 9 After this command 15 necessary start again the drive Alternative to this procedure disable the drive and disconnect the motor cable the motor can rotate even if it 1s installed inside the equipment any emergency brake disabled with motor 1s available to supply a positive tension between phase B and C respect the phase A it s important to verify that the phase phase resistance limits the current to the rated value so that the shaft aligned only for S B C motor for other type see the paragraph
92. al TPDM 20 Appendix option IN X20 _ OUT X21 S2 SI Dl _ ETHERCAT Off No error The EtherCAT communication of the device 1s in working condition Flickering Booting error Booting error was detected INIT state reached but parameter Change in the AL status register is set to 0x01 change error DI Blinking Invalid General Configuration Error configuration Single Flash Unsolicited Slave device application has changed state change the EtherCAT state autonomously parameter Change in the AL status register 15 set to 0x01 change error Double flash Application An application watchdog timeout has occurred PDI watchdog A PDI watchdog timeout has occurred timeout n f The device is in state INIT Off Blinking Pre operational The device 1s in state PRE OPERATIONAL x Error Status operational OPERATIONAL OPERATIONAL Status Flickering Initialization or The device is booting and has not yet bootstrap entered the INIT state or the device 1s in state BOOTSTRAP Firmware download operation in progress Address selector alias Digit less significant Selectors a ETT Address selector alias Digit more significant Connections Input connection OUTput connection use a direct cable shielded 5 category Standard 5 cable shielded without crossover in according to the standard EtherCAT EtherCAT Technology Group 185 Parke
93. al and analog input encoder B counter timer to set a time delay to open the motor brake Ox2066 timer to set a time delay to enable the motor movement Ox2067 timer to set a time delay to close the motor brake 0 2068 timer to set a time delay to drive disable 12 1 2 Dictionary object summary of dsp402 in drive 0x6007 Abort connection option code with the following available values 0 No action 1 Alarm alarm MISSING SYNC TRIP Er16 if sync is missing when b271 8 1 the sync signal interval exceeds the 120 of the nominal sync cycle lasting time of index 0x1006 communication cycle period the regularity of sync signal is checked with a resolution of 2 048 msec If the node does not receive the guarding message before its lifetime ABORT CONN TRIP Er13 is generated 2 disable voltage 3 quick stop 0x6040 Control word 0x6041 Status word 0x605a Quick stop option code valid values 0 1 2 5 6 Ox605b Shut down option code valid values 0 1 0x605c Disable operation option code valid values 0 1 Ox605e Fault reaction option code valid values 0 1 2 0 6060 Mode of operation valid values 1 0 1201 6 om200 7 0m202 8 om203 1 om11 2 om13 3 om14 5 om0 135 Parker Hannifin Manufacturing Srl user s manual TPDM 0x6061 Modes of operation display see the previous 0 6063 position actual value counts If read by mean of SDO or mapped
94. al and is generated by algebraic sum of the references see the following picture Em Resulting position This diagram allows to identify a general flow in operating mode 11 If you carefully analyze this mode you will see that the programmer can use several enabling commands programmable bits at different levels 1n order to address the flow of the generated position reference or references 1n several display modes For instance for each generator a position reference can be enabled in the position loop or into a general position counter Position loop Positioner Modul Counter reference gt counter at modul generator Incremental global counter When the position reference of at least one generator 15 enabled in the position loop the reference loading into a global counter defined by module is automatically enabled 96 Parker Hannifin Manufacturing Srl user s manual TPDM 9 5 1 Positioner This is a trapezoidal profile generator with the following user definable parameters speed profile acceleration and deceleration ramp e value target position in motor step The parameter referred to the target position 1s absolute The difference between the target position and the reference position generates the direction of the movement thus position reference generated in this way is loaded into the position loop by b181 1520 command and moreover is possible to unload the ref
95. al axis reset procedure Before using the homing function perform the following settings connect the homing sensor to digital input 3 set the homing speed in parameter Pr4 pay attention to the direction of rotation set Pr5 0 b40 12 1 b40 13 0 b40 2 0 To activate the homing procedure set b94 12 1 for a type reset or b94 13 1 for a type 2 reset When the homing procedure 15 concluded the respective activation bit will be reset If you wish to abort the procedure reset the command bit stop the motor e g by resetting Pr5 and if necessary read b40 2 which will remain on zero RESET 1 DESCRIPTION When the procedure is activated b94 12 1 axis is brought to the speed programmed in Pr4 Pr5zPr4 the axis is then brought to zero speed 5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are reset the position loop is enabled by setting b40 2 1 and command b94 12 1s reset The homing sensor signal must be maintained active in high status for the entire duration of the motor stopping phase If the homing sensor 15 already engaged when the procedure 15 activated the axis moves at the speed programmed in Pr4 but in the opposite direction until the homing sensor 15 freed at this point the procedure continues as described above RESET TYPE 2 DESCRIPTION When the procedure is activated b94 13 1 the axis is brought to the speed programme
96. alue of the slave 10000 module ME NE Prl 18 119 Final position positioner The parameter used to set the final position desired for the generator of the trapezoidal profile based on 4096 steps per revolution 89 Parker Hannifin Manufacturing Srl user s manual TPDM 1 1 1 2 1 1 2 1 2 1 2 1 Pr157 156 ENCODER input counter W E MEM 32 WE AN Pr177 176 Engage point inside to the master module of the CAM Pr179 178 Space in count of master module where the CAM is executed 2 Pr185 184 Change of value slave axis module in phase Variation of slave module and with 5181 12 slave module value 15 changed immediately PE 1 Pa Range Def Master position Pr122 123 Master axis phase If b150 8 at the first positive W 022 1 front of digital input 0 or of zero encoder input see the block diagram the position of the master axis become Pr122 123 Pr124 125 Master axis phase captured At each positivefront W 022 1 mE of digital input 0 or of the zero encoder input see the MEN block diagram the position of the master axis is copied into Pr124 125 Pr126 127 Master axis phase for engaging If b150 12 1 W 022 1 when position of master Pr112 113 exceeds Pr126 127 Pr102 15 brought to position 2 and
97. am a linear engage cam on master module It s necessary to define the space to use of the module master in which executing the engage cam of the slave Program the Pr132 133 parameter like start point and the 126 127 parameter like final point setting the bit b150 11 reserves the start of the slave the start point of the module master programmed It is necessary that in this point the value of Pr134 135 1s equal to the position caught from the slave to end of the ramp that 15 to start of the ramp the slave must be found in advance regarding the engage point phase with equal distance to Pr136 137 The bit b150 11 1s automatically set to zero after the engage In the final point of the engage cam automatically is activated the cam table wrote in the drive The event is marked with the bit b150 12 1 to the start of the ramp after the activation of the table the b150 12 15 automatically set to zero As to the engage phase needs to define one internal point to the master module for the start of the disengage ramp To difference of the engage cam executed the disengage phase is a simply deceleration ramp and comes executed through the positioning of OPMIA The release point 1s written 1n the Pr128 129 parameter 1n step module master Activating bit 6150 13 reserves the start of disengage of the slave in the point programmed the bit b150 13 is automatically set to zero after the disengage Activated the disengage phase on the progra
98. ameter of ip function fip x1 xN 168 Parker Hannifin Manufacturing Srl user s manual TPDM Operation enbled lt D Ore Disable 5 oo Quick stop voltage shutdown Oo N O 2 EE sc St Sog 5 go 2 Interpolation inactive 5 os ox A TES Interpolation active 169 Parker Hannifin Manufacturing Srl 12 1 11Mode Cyclic synchronous position operative mode 203 user s manual TPDM The overall structure for this mode Cyclic synchronous position Pr31 203 only for EtherCAT protocol is shown in Figure Torque offset 60B2h Velociy offset 60B1h Position offset 60BOh Target position 607Ah Torque actual value Position control A Velocity control Torque control A A Le T d 60771 Velocity actual value 606Ch Position actual value G064h 4 With this mode the trajectory generator is located in the control device not in the drive device In cyclic synchronous manner it provides a target position to the drive device which performs position control velocity control and torque control Optionally additive velocity and torque values can be prov
99. and b94 14 to perform the write procedure in the absolute encoder After having entered a multiturn phasing command b94 14 bit b41 6 indicating phasing is set to zero Switch the electronics off and on again to be able to perform other axis enabling procedures 112 Parker Hannifin Manufacturing Srl user s manual TPDM Multiturn position read 1 if multiturn absolute position is read at power up The range of absolute position depends of the encoder and it s equal to number of turns 2 113 Parker Hannifin Manufacturing Srl user s manual TPDM 9 6 11 FeedForward of speed loop The feedforward into the speed loop is realized to offset the torque like this during the acceleration the speed error is reduced to zero Usage case e when the system needs high accelerations without error e when is difficult to calibrate the system in these case the feedforward of speed loop Pr283 permits to increase the performances The current is monitoring by two parameters Pr284 FFWD monitor and Pr287 speed loop monitor The optimal condition 1s to set up the Pr283 until the speed torque Pr287 15 equal to 0 during the acceleration and deceleration phase An offset of torque Pr285 1s possible set to compensate the weight force for example when the payload 15 vertical To calculate the value of the feedforward gain is possible use the following method in according to the motor used Rotary motor SMB
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101. art Homing mode active Interrupt homing mode 0 Execute the instruction of bit 4 Stop axle with homing acceleration Table 11 Homing mode bits of the controlword 12 1 5 3 2 Statusword of homing mode 15 14 13 12 11 10 9 0 __ Homing error Homing attained __ Target reached MSB LSB Name Target reached Halt 0 Home position not reached Halt 1 Axle decelerates Halt 0 Home position reached Halt 1 Axle has velocity 0 Homing 0 Homing mode not yet completed attained Homing mode carried out successfully Homing error No homing error 1 Homing error occurred Homing mode carried out not successfully The error cause is found by reading the error code Table 12 Homing mode bits of the statusword 149 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 6 Object dictionary entries 12 1 6 1 Objects defined in this chapter 607Ch VAR Home offset INTEGER32 O 6099h ARRAY Homing speeds UNSIGNED32 609Ah UNSIGNED22 rw O 12 1 6 2 Objects defined in other chapters 6040h UNSIGNED16 6041h UNSIGNED16 12 1 7 Object description 12 1 7 1 Object 607C Home offset The home offset object is the difference between the zero position for the application and the machine home position found during homing it is measured in position units During homing the machine home position is found and once the homing is completed the zero position is offset from
102. ation of which table is active generator b180 8 O Upgrade automatically to CAM1 1 Upgrade only W engage 5180 10 or b180 13 b180 9 CAM 1 engaging immediately Signal lock Unlock CAM 1 R 0 105 Parker Hannifin Manufacturing Srl user s manual TPDM b180 10 b180 11 b180 12 b180 13 b180 14 b180 15 b181 0 b181 1 b181 2 b181 3 b181 4 b181 5 b181 6 b181 7 b181 8 b181 9 b181 10 b181 11 b181 13 b181 14 b181 15 2 106 Fi 0 Caught quota master frequency input 1 Caught quota Motor position Storage in Pr58 59 Command swap of Tab 3 Tab 3 Tab1 Tab 0 The switching between the tables 15 showed in picture The switching starts from TAB3 to TABO clockwise direction Command swap of Tab 0 Tab 0 Tab2 Tab 3 The switching between the tables 15 showed in picture The switching starts from TAB3 to TABO counterclockwise direction Selection Table in the CAM 2 The state of this bit together with bit b181 7 identifies the selected table see table below Selection Table in the CAM 2 The state of this bit together with bit b181 6 identifies the selected table see table below Tabl 1 j 0 _ T2 0O 1I O Enable virtual table Tab 3 0 W 0 Enable counter position from CAM I to global counter Pr131 130 This command b181 9 1 enab
103. axis nominal current 2 5 8 A drive size axis C nominal current 2 5 8 B Field bus FBK sensor device D Optional board See par available models Accessories 1 1 1 1 A label attached on the right side of converter contains all essential information to correctly identify the unit Serial number Model Nominal plate data It is important to refer to this label before requesting any kind of technical information to Parker Hannifin Manufacturing Srl on the internal side of the protective cover there 15 a label that shows the Model and the Serial Number Pay attention before opening the protective cover wait 5 minutes after have disconnected the mains supply 13 Parker Hannifin Manufacturing Srl user s manual TPDM An example of this label 15 given below ANNIE READ INSTALLATION USE COPPER INSTRUCTION MANUAL WIRE BEFORE INSTALLING RATED 60 75 Model Serial number Output voltage Input voltage Output current Input current Output frequency The performance of converter is quaranteed only with synchronous motors with permanent magnets MB and SMB Series that have been manufactured by us 14 Parker Hannifin Manufacturing Srl user s manual TPDM 3 Main hardware features 3 1 Ambient conditions emee Class 3K3 0 40 C 32 104 F temperature Class 1K4 25 55 C 4 131 F Cla
104. been achieved The user must set this flag to O The scanning of Tab3 table can be substituted with a scanning of a virtual table if setting b181 8 1 points in Tab3 table have the value decided in Pr105 After the execution of the commands the bits are automatically set to zero parameters that are not declared are reserved and must not be used OPMIA parameters uou qu Urbem Hed Range Def Res 101 Ramp time for Pr100 This 15 the acceleration ramp that will be used by speed mode Function selector Enables the functioning as a halted motor positioning electronic cam and speed Pr103 Pointer to the cam table Pr103 is used to access 175 cam table Pr104 will contain value of m Pr103th element in the table 104 Table element value Pr104 is the value of the Pr103th element in the table EN Virtual table value b181 8 Engage and PN disengage space in degree 106 Feedforward scale 108 Full speed positioner This 15 speed that FEE boi Hx will be used during the generation of the position profile 109 Acceleration time positioner This is the 0 500 acceleration ramp that will be used during the positioning profile 110 111 Master axis module This 15 the value of the master 0 2 10000 axis module Pr112 113 Master axis position This 1s the present position of the master axis 114 115 Slave axis module This is the v
105. bles As OPMIA default configuration the 15 scanned through the master module using Adaptation module command 102 14 the function is scanned in one sector of master module The selected cam can be scaled in a sector of the master module by programming the starting point 177 176 and the space Pr179 178 which the cam shall be executed parameter values starting point and space must be included between and master module in Pr111 110 Motor speed limit 3000 Slave module 115 114 Speed axis slave rom 1500rpm My C We Mn 555 5 RN Ne T CORO RC Re C C D C DUO Qe T Master module 0 2500 5000 7500 10000 count 68 Parker Hannifin Manufacturing Srl user s manual TPDM b150 12 and b150 13 command the engage and the disengage in correspondence of the master phases written in 127 126 and in Pr 129 128 they are always referred to master module of If adaptation module 15 used the engage disengage phase 15 always referred to master module By setting the function b150 8 the user can define the position of the master Pr122 123 on the positive side of digital input 0 or of the zero trace encoder input selector b70 0 570 14 shows that the initialize has
106. ching sequence 1s automatically inverted when the speed 15 negative The above described function 1s essential for instance 1n applications where the user wants to complete an engage disengage phase starting from a gearing function Electrical axis by means of linear linking ramps By linear links we mean the tables describing the two engage and disengage ramps Let s suppose that TabO has been programmed with a function gearing and that Tab3 has been programmed as a fixed axis that is yzconstant K We will need to calculate both linking tables in Tabl and Tab2 to be able to engage and disengage the axis If we consider for instance the master cycle in a module in degrees 360 we will have to set in Pr105 the master module sector value ranging between 0 and 360 that we are going to use in order to perform the two engaging and disengaging ramps Using the Pr102 parameter and the predefined functions that already they previewed the two tables 15 possible to calculate the engage in Tabl with Pr102 9 and the disengage in Tab2 with Pr102 10 Through the commands of the functions predefined is always estimated the function of Gearing TabO with 102 5 The Tab3 can be replaced in this application with one fictitious table qualifying the bit b181 8 1 setting up the constant of table in 105 It s possible to extrapolate in this application the constant of Pr105 reading the first value of the table of Tabl engage i
107. ction If 1 the rotation of the motor 15 inverted only main feedback 79 Parker Hannifin Manufacturing Srl user s manual TPDM Note b703 Output programmable on module 001 error b70 4 will be set to 1 if the position error as absolute value exceeds value set in Pr55 error 70 5 will be set to 1 if the position error as absolute value exceeds the value set Pr56 enable If set to 1 the feed forward on position 0 W regulator 15 enabled 106 b70 7 Feed forward scale enable If b70 6 1 is possible enable the feed forward scale 670 12 1 enable Pr152 emgy message Command CANopen it W generates an user message with value in Pr153 152 Automatic reset when the message 15 sent 670 14 Value master captured If set to 1 this means that the value R W master has been captured The user must set the bit to 1 no auto reset 570 15 motor captured If set to 1 this means that value motor has been captured The user must set the bit to 1 b180 14 Master Motor reference captured 0 from master reference 1 R W from motor position The value captured 15 in Pr59 58 1 in OPM 14 0 1n the other cases 90 Parker Hannifin Manufacturing Srl user s manual TPDM 9 2 Torque control operating mode 1 This operating mode does not control the torque in the classic way since the speed control continues to work
108. ctive earth current Set the trip level at 300mA fire protection level or more Setting the trip level at 30mA protection level against direct contact 1 possible only using time delayed RCD and low leakage current EMC filters but in any case the drives are not guaranteed to operate with 30mA trip level 10 Parker Hannifin Manufacturing Srl user s manual TPDM 1 8 Applicable standards Safety 2006 95 EC Low voltage directive EN61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Electrical thermal and energy ULS508C USA Power Conversion Equipment CSA22 2 Nr 14 05 Canada Power Conversion Equipment The drive is CE marked in accordance with the Low Voltage Directive when installed and operated with reference to the product manual The drive is considered as a component machinery The complete machinery or installation may only be put into service when in accordance with the safety considerations of the Machinery Directive 2006 42 EC Electromagnetic Compatibility Immunity Emission 2004 108 EC EMC directive EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC requirements and specific test methods The drives are intended as components to be used in a second environment industrial environment and category C3 together with specific EMC filters and installed accordingly to the recommendations given in the user manual When used in the first environm
109. d Protection These devices provide Class 10 motor overload protection The maximum internal overload protection level current limit 15 peak output current for 2 seconds refer to chapter Start up to setup and adjustment An external motor overload protective device must be provided by the installer where the motor has a full load ampere rating of less than 50 of the drive output rating or when the function is disabled 4 8 2 Solid State Short Circuit Protection These devices are provided with Solid State Short Circuit output Protection Branch circuit protection requirements must be accordance with the latest edition of the National Electrical Code NEC NFPA 70 4 8 3 Protective earth The motor protective earth PE has to be wired to the Protective Earth connection on the PSUP module only Protective Earth Connections in accordance with the NEC NFPA 70 The TPDM provides Motor Functional Earth connection only Two supply protective earth connections are required for Europe one located on the PSUP and the other located on TPDM 29 Parker Hannifin Manufacturing Srl user s manual TPDM 4 9 Requirements for CSA Compliance To CSA compliance remove the EARTH bar when it s present see the following picture m gt Caution Risk of Electric Shock Discharge time of the bus capacitor is approx 10 minutes Connect the protective earth using the dedicated screw for each module of TPDM TPDM PSU
110. d control structures where a position control 1s followed by a velocity or torque control the output of the position control loop is used as an input for a further calculation in the drive device Limit functions may be used to restrict the range of values to avoid unintended positions The interpolation time period defines the time period between two updates of the target position and or additive position and shall be used for intercycle interpolation The target position shall be interpreted as absolute value The position actual value 15 used as mandatory output to the control device Further outputs may be the velocity actual value torque actual value and the velocity sensor actual value The following error actual value may be used as an additional parameter Position range limit 607Bh Software position limit 607Dh Polarity 607Eh Target position T i 607 Ah Limit m Multiplier gt a function Position offset 60BOh Following error window 6065h Following error time out 6066h ms E Max motor speed 6080h Kayi gt Multiplier gt Velocity offset 60B1h Polarity 607Eh Quick stop deceleration 6085h Quick stop option code 605Ah Motion profile type 6086h Interpolation time period 60C2h M Torque offset 60B2h px gt Multiplier gt torque 6072h Motor rated torque
111. d in Pr4 Pr5zPr4 the axis is then brought to zero speed 5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are programmed with the value of parameter Pr28 the position loop 15 enabled by setting b40 2 1 and command b94 13 is reset The homing sensor signal must be maintained active in high status for the entire duration of the motor stopping phase If the homing sensor is already engaged when the procedure is activated the axis moves at the speed programmed in Pr4 but in the opposite direction until the homing sensor is freed at this point the procedure continues as described above 108 Parker Hannifin Manufacturing Srl user s manual TPDM 9 6 2 Speed adjustment In the operating mode default conditions Pr31 0 the drive adjusts the motor in speed based on the reference value The reference origin can be selected with the main block parameters between analogue external potentiometer internal digital or external pulse string It 16 possible to make comparison by zero speed and other speeds set acceleration and deceleration ramps change the current and torque limits and check the drive status The main block diagram shows the main drive structure how the configuration parameters act bit or Pb parameters and the main numerical parameters Pr 9 6 3 Current or torque adjustment typical To set the converter to Current mode torque adjustment th
112. dedicated to axis B and simulated encoder OUTput dedicated to axis B e The option on TPDM axes introduces 3 analog references 1 dedicated to axis A dedicated to axis and dedicated to axis C and 2 auxiliary encoder INput 1 dedicated to axis B and 1 dedicated to axis C and 2 simulated encoder 1 dedicated to axis B and 1 dedicated to axis C This option excludes the EtherCAT board and requires a firmware release gt 6 187 Parker Hannifin Manufacturing Srl user s manual TPDM 21 2 Connectors lay out Enc B connector DB15 HD Enc C connector DB15 HD X23 Axis B X24 Axis C l 4 Enc 0 6 GND 7 En INA 0 0 00 00 8 INB o 9 Enc OUTA 590 0 13 I O Terminal block X2 VCC encoder o VCC encoder i Ot m ES 10 12 13 188 Parker Hannifin Manufacturing Srl user s manual TPDM 21 3 Connections I enc DHT d enc Ad J i enc LIT X enc OUT BH EE Wu OX gt re M C enc LT 4 en 1 enc IT Enc JLT ta enc JN At enc JM d aii Si e c 4 toI s enc JM B ai enc N E enc JN XC nt Enc Enc JN uL enc N C enc N C lt e enc JN by 127 GAO enc TN X27 Tu P n
113. default configuration the parameters Pr19 and Pr33 are limited according to the peak output current Pay attention at the motor nominal current and the torque limit because reducing the switching frequency the parameters Pr19 and Pr33 remain to the last switching frequency 180 Parker Hannifin Manufacturing Srl user s manual TPDM 18 Appendix Alarms Malfunction error code Alarm Remedies Pr23 No alarm If 24 is not 0 see the par SUB Alarms table 1 DC circuit overvoltage Check the three phase power line max 480V 10 Check the brake circuit and braking resistor 2 DC circuit undervoltage Check the three phase power line 3 Overcurrent If Pr24 0 is overcurrent check the motor connections and any phase phase or phase ground short circuits Check the motor data If Pr24 is not 0 see the par SUB Alarms table FBK error resolver or Check the connections of the speed loop and the encoder connectors on both sides drive motor Check the feedback parameters parameters Pr33 lhom and Pr19 Ipeak Power module Check the cooling fans and for any restrictions to overtemperature air flow Check the braking cycle Check the ambient temperature in the electric cabinet where the drive is installed as well as the ambient temperature outside the cabinet 7 Depends on the application b41 7 see Pico PLC program Depends on the application b41 8 see Pico PLC program
114. drature signals where Fin is the frequency present at the encoder input Fin enc speed Rpm enc pulses turn 60 Internal reference If b40 12 1 and b40 13 0 Pr7 will be 9000 equal to Pr5 rpm Pr6 Reserved speed reference read only If b40 2 1 this 9000 value is used as a reference for the speed regulator The rpm active operating mode will write its speed request in parameter Pr6 7 reference read only If b40 2 0 is used Pr7 is the 9000 reference for speed regulator In some operating modes rpm Pr7 can be used as a reference for other values torque acceleration and in these cases Pr7 will be ER 154 ote CE expressed in the most suitable unit of measurement Acceleration ramp for positive speed Positive speed 0 00 acceleration required by the motor via the speed reference 15 internally limited so that to achieve an acceleration of 1000 rpm Pr8 seconds are necessary 0 00 2 Deceleration ramp for positive speed Positive speed 0 002 deceleration required by motor via speed reference is 65 535 internally limited so that to achieve an acceleration of 1000 s krpm rpm Pr9 seconds are necessary EN EE 66 Parker Hannifin Manufacturing Srl user s manual TPDM Type Par Description Range Def Note Pr 10 Acceleration ramp for negative speed Negative speed 0 002 M acceleration required by the mot
115. during operation programming O Defective components drive motor wires sensors etc O Incorrect control software or firmware errors order to prevent personal injury due to unintended dangerous motor movements the maximum attention and work on the machine with a qualified and tested safety system O Isolate the drive power connection O Mount the emergency stop switch in the immediate reach of the operator Verify that the emergency stop works before start up Don t operate the machine 1f the emergency stop is not working O Install properly fences guards coverings and light barriers in order to prevent people from accidentally entering the machine s range of motion Secure vertical axes against falling or dropping after switching off the motor power Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone OO 1 6 Safety instructions for maintenance WARNING It 15 extremely dangerous to remove covers part of the external enclosure from the equipment Risk of personal injury The warranty immediately decays e case of malfunction consult the alarm list described the user manual or address Parker Hannifin The drives are not field repairable 1 7 Compatibility with RCD devices CAUTION The use of Residual Current Devices 15 strongly not recommended If the use of RCD is mandatory use type B only for DC and AC prospe
116. e Note in case of TPDM multiaxis the feedback type must be equal per each axis 49 Parker Hannifin Manufacturing Srl user s manual TPDM 6 5 Feedback from incremental encoder In place of the resolver it 15 possible to use an incremental encoder must be expressly requested when placing your order When the feedback is incremental encoder see par setting feedback Modifications at this bit are available only after restarting of the drive The phasing procedure must be run upon every drive start up It s possible choose among two type of procedure and it s necessary that the motor must be free to rotate also when the motor is mounted into the system the brake of the motor must be disable During the phasing procedure 1 the drive checks the connections and the movement of the motor is broadest so this procedure 15 recommended for the first time 6 6 Encoder phasing 6 6 1 1 phasing b94 2 actives this procedure The parameters are shown in the table below Description Field Unit Type Notes R W 196 To insert number of the step to turn encoder 32767 1024 Command phasing 1 It s necessary to disable software b40 9 0 enable the hardware b41 5 1 and driver OK Pr23 0 b94 2 The motor executes two movements and the last is about 90 degree electric with control sign of the encoder feedback Introduce the correct number of the motor poles 29 Status 0 1f positive result 2 if wrong
117. e and motor are properly grounded accordingly to national regulations Furthermore the drive before switching it on must be closed in a protective cabinet in order to avoid direct contact with accessible live parts Only qualified and trained personnel 15 allowed to perform installation and commissioning using appropriate tools and following the safety precautions given in this instruction Make sure that supply voltage has been switched off before installing and wiring Drives are only allowed to be operated on TT TN grounded industrial mains having maximum 480V 10 line to line rms voltage 480 3 phase Do not directly install the drive on ungrounded IT or asymmetrically grounded mains In case of ungrounded mains coupling with Dyn transformer with grounded secondary circuit is necessary Refer to drive technical data and wiring instruction the components used in the cabinet which the drive 15 installed cables contactors inductors and transformers fuses etc and the connected motor must be in compliance with the specification given in the product documentation in addition to national regulations Make sure that the maximum surrounding air temperature 40 104 F If necessary use an appropriate air conditioning The size and temperature rating of wires and cables used for connecting the drive must be in compliance with the specification given in the instruction manual see NEC 310 16 for USA Use also the spec
118. e instructions otherwise the last instructions will be lost The pico PLC program can be edited or modified only when the PLC is in stop b99 13 0 125 Parker Hannifin Manufacturing Srl user s manual TPDM 10 2 Programming with MotionWiz The enclosed communication software supplied free of charge designated MotionWiz has the following HW SW requirements PII microprocessor or higher Windows2000 or more recent version mouse and serial port for drive connections The main features of MotionWiz are serial connection of up to 32 axes reading and setting of basic parameters and drive commands reading and setting of commands and parameters of operating modes functional block diagrams pico PLC program displayed as ladder diagrams display of pico PLC program status during operation status storage of parameterisation including pico PLC program uploading of parameterisation including pico PLC program from a file that can be selected from among those previously stored oscilloscope function 126 Parker Hannifin Manufacturing Srl user s manual TPDM 10 3 MotionWiz The configuration tool is called MOTIONWIZ is used to program the drive while controlling the whole system in real time PLC programs can also be edited and new files can be generated The first step is to install the program 4 e SetupMotionwWiz exe click on the icon SetupMotionWiz exe Follow the i
119. e on the drive type Physical layer ISO DIS11898 the DATA 15 full CAN version 2 0 part A ID 11 bit and a subset used for application layer SBC CAN Realize the ending only on the last node like shown above 40 user s manual Parker Hannifin Manufacturing Srl 97404 270400 PIOS Ajdins LLL ILLA A LR UL ILU ux 9 Y CY ow wow wow js fas rid a m oo t T i 0140042 cd 3 SE Log 4 24 Layout 41 Parker Hannifin Manufacturing Srl user s manual TPDM 5 Using the keyboard The keyboard display module is easy to use It is used to program the functional data control the status of the converter and send commands It consists of only three keys located directly beneath the display The keys are marked M The M key is used to modify the display and consequently the function of the e keys There are two types of display parameter mode and parameter value mode When the converter 15 powered on if there 15 no alarm the user sees 0 or on the screen depending on whether the converter is on or off This is also the position of the PrO parameter Drive in alarm Drive without alarm but not ready undervoltage Drive enabled motor stopped in torque Drive enabled the motor speed 15 different from 0
120. e reference If 0 the analogue R W input will be selected as the main reference If 1 the reference M will be digital and b40 13 can be used to select parameter Pr4 or parameter Pr5 b40 13 Selector of internal reference Pr5 or frequency reference Pr4 If b40 12 1 b40 13 can be used to make the selection If 0 internal reference can be used If 2 1 the frequency input encoder in which can be configured as frequency direction or as a quadrature signal by using b42 5 b40 15 Reserved 00000 b41 0 Overspeed When the absolute value of the motor speed exceeds the value set in Pr13 b41 0 1 Otherwise b41 0 0 In speed If b40 7 0 and if the difference speed between the motor and the reference 1s less than Pr14 and greater than Pr15 641 1 1 Otherwise 0 If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 b41 1 1 Otherwise 0 641 2 Zero speed If the motor speed 0 0 b41 2 1 Otherwise b41 1 b41 3 Forward If the motor speed 0 is positive 641 3 0 Otherwise b41 3 1 Converter If 1 there is no alarm Otherwise 0 b41 5 Status of hardware enable When hardware enable is present 1 by pico PLC via serial line or CAN bus b41 6 Phasing result 1 if positive result 0 phasing not performed R b41 7 External alarm An alarm that can be used by the user 0 RW b41 8 Auxiliary alarm A s
121. e speed ring is excluded by setting b42 2 1 The main analogue reference is assumed as torque reference current If the nominal current value 16 exceeded the thermal 1mage trips as the speed operation 9 6 4 Frequency input output Encoder ports The frequency input output connector X19can be configured by the software in different functional modes by using the binary parameters b42 0 b42 5 as given in the table below b42 0 and b42 5 See App Conventions for the Signal and counter conventions used Description of the modes b42 0 0 Incremental Encoder simulation On encoder out pin the number of turn 039 10 1 pulses must be programmed in Pr 44 b42 0 1 The function Virtual encoder simulation is enabled Dummy Master b42 5 1 Encoder input is programmed as input in quadrature phases and this configuration must be used with the operating modes 13 and 14 b42 5 0 Encoder inputs are programmed as frequency sign input The mode must be set when you want to simulate a stepper motor or the pulses train function The frequency connects to A A input while the direction connects to B B input After the programming the configuration must be saved and the unit must be powered off and on again When configured as encoder simulator or o virtual encoder the counters Encoder In input used by the operating modes are active With the Virtual encoder function enabled a virtual encoder dummy Master will be availab
122. eat the procedure according the conditions Pr164 Speed feedback filter 189 Analogue output scale 1 Defines scaling of 2047 analogue output Pr190 Parameter pointer 2 The number indicates which parameter to monitor scope function only No of FBK Encoder pulses Indicates the number n pulses per revolution times 4 in the count ranging from 1 incremental encoders and not with SinCos encoders as the Pr196 latter require a correct cabling of sine cosine signals traces Encoder resolution In case of encoder DSL parameter is the resolution of the encoder in bit to am 020 Pr197 Feedback break threshold Amplitude sinusoidal signals 1 500 threshold resolver and encoder n 198 Module temperature j R Pr 38 Acc i t drive I t of the module accumulation of all axes 0 100 0 Unit of the peak current of the module 96 If b231 1 0 the range is from 4 to 65535 pulses per rev if Pr45 Main analogue input Represents the value of the main 32767 analogue input 10V CAN bus speed code see the section CAN bus this parameter shows if result 1s ok or it s 188 Analogue output pointer 1 The number indicates which parameter to monitor scope function and analog output It comes used with to the Pr189 If the parameter pointed 1s PrO will be had in escape 10V when Pr0 Pr32 if the parameter pointed is Pr35 will be had in escape 10 when
123. econd alarm that be used by the user 0 R W b41 9 CANI bus watchdog This bit is set to at every block sync reception via CAN b41 10 Saturation of the speed regulator b41 10 1 when the speed regulator is supplying maximum current b41 11 active Indicates that Pr36 has reached the 100 0 value and therefore the converter 1s limiting the current to the nominal value b4LI2 Converter enabled 72 Parker Hannifin Manufacturing Srl user s manual TPDM on the CAN on the CAN reception via CAN b42 0 Virtual encoder enabled function enabled See the section Other useful functions 642 1 642 2 Torque control If set to 1 the main analogue reference 15 assumed as the reference for the torque control torque servo controlled mode Reinitializing the serial line and the CAN Command to initialize serial communication whenever the speed value of the serial line Pr26 has been modified Command to initialize the CAN bus whenever the address or the function mode has been modified The serial line and the CAN are in any case initialize when the converter is powered on IN2 IN3 frequency input If it is 1 the frequency input 15 programmed to receive two phases in quadrature If it 1s 0 it 1s enabled to receive a frequency direction input b42 5 Encoder frequency input If it is 1 the frequency input is programmed to receive two phases in quadrature If it is 0 it is Type
124. ed into rpm Bd based on 4096 imp revolution Window for servo error 1 If the position error as an absolute value exceeds the value set in Pr55 b70 4 1s set to 1 Otherwise b 70 4 0 Window for servo error 2 If the position error as count an absolute value exceeds the value set in 56 mw b70 5 1s set to 1 Otherwise b 70 5 0 Pr57 Proportional gain for the position regulator prem R W Pr58 59 Quota captured The value Pr66 67 is captured on the positive edge of the selected input see b70 0 Pr60 61 Regulator position reference count O Pr62 63 Motor position fbk If incremented by 4096 steps per revolution Pr68 69 Value captured Value of the position of the motor count captured on the positive edge of the input INO 96 95 Deposit of value comparator b94 8 Pr98 97 Deposit of value comparator b94 9 count 1 288 Position loop resolution selection Only for 12 20 12 W OPM202 and OPM203 see the relative chapter Description Type Note Encoder in capture If 0 the capture of the value encoder master is made from input 0 Otherwise it is made by the input of the zero trace encoder Pr55 Pr56 00 M 1 R W M 1 R W M 000 R W M 100 R W M 100 M ZIEL Feedback If 0 feedback 15 done by the resolver If 1 feedback is done by the encoder In this last case the parameters Pr52 and Pr53 serve to rate the pulses per revolution at 4096 Feedback dire
125. en 02 D VeESIOH ERE 133 12 1 1 Dictionary object summary of 45301 134 12 1 2 Dictionary object summary of dsp402 in 135 12 02 5 Roads 139 12122 Opject Status 141 12 2 3 Object GUS Bh Shutdown option Code c ee pig to ext 143 12 1 2 4 Object 605Ch Disable operation option gt 144 12 1 2 5 Object 605Ah Quick stop option 145 12 1 2 6 Object 605Eh Fault reaction option 145 12 27 Object o060h Modes or ente Eb oL eut he eot Oda t eem 146 12 1 2 8 Object 6061h Modes of operation 146 12 1 9 vEunctonadl de SCHIDUOT 147 1215 Modes of operation dei EAR Dota 147 Parker Hannifin Manufacturing Srl user s manual TPDM 12 L4 Homing moded opetratye mode 200 noises ite eei oe eios Go eius 148 148 12 1 51 Gata descripLIOD 148 12 5 2 Output data terni MERI Dee toda 149
126. ent residential commercial environment drives may produce radio frequency interference dangerous for other equipment additional filtering measures must be implemented by the user 1 9 Materials and disposal zinc coated steel sheet thickness Imm and 2mm extruded aluminium 151 adhesive polycarbonate front label Electrolytic capacitor contains electrolyte and printed circuit boards contains lead both of which are classified as hazardous waste and must be removed and handled according to local regulations Parker Hannifin Manufacturing Srl together with local distributors and in accordance with EU standard 2002 96 EC undertakes to withdraw and dispose of its products fully respecting environmental considerations 1 10 Warranty The warranty duration is one year The converter must not be opened accessed or modified in of its part Any attempt to do so would cause the 1 warranty to be cancelled with immediate effect Parker Hannifin declines any responsibility for damages that may be caused by inappropriate use of the converter 11 Parker Hannifin Manufacturing Srl user s manual TPDM 2 INTRODUCTION 2 1 General information This manual describes the installation and commissioning of the frequency converter TPD for brushless motors Read carefully all the sections 2 2 Product description The TPD 15 a digital frequency converter for brushless motors and asynchronous motors w
127. eral suegestions on cable connections et E aaa 20 4 2 Dimensions and ne ie o eerte HR INFE de 21 4 3 Mount IBS EUCHOHRS eo Gee eS eS ON nna PEERS SES E Ra 22 4 4 Connectors TAY OUL iie e EE E 25 4 5 SOTTO CIOS cin eese EIE oU eR OE SE e IUE 24 4o QOIS ream 25 qo Woa eee encanto ELEM DE 26 27 4 6 Cable lengths and cross S CtIONS cccccccssssssssssssccccccssssssscsccccccscssssssssscccccssccssssssssccooses 28 4 7 6 29 4 8 Requirements for UL Compliance ccce eec eere eee eee eee eee e e eee tete ettet ettet eee e e eee 29 5921 Solid State Motor Overload Protection oo eG EE bU EON Hs 20 452 SBort Cireutt Prote c Hol E 20 45 9 au 29 Parker Hannifin Manufacturing Srl user s manual TPDM 4 9 Requirements for CSA Compliance ccce eee e eee ee e eee eee eee eese ess 30 4 10 IMOLOF CONNECHON cm 31 4 11 Resolver
128. erating mode controls speed using parameter Pr6 and can use parameter PR21 to limit the torque at the motor see the block diagram Speed control will use as reference Pr7 or Pr6 depending on the value of b40 2 Before changing Pr31 b40 2 must be set to 0 in order to avoid unwanted movements of the motor Therefore it is possible to set Pr31 to the value that corresponds to the selected operating mode The parameter b99 11 15 used to load the default parameters for the selected operating mode By setting b40 2 to 1 the operating mode will be turned on operating modes need to control the motor in position 11 13 14 15 by using the position loop described in the diagram in the figure 77 Parker Hannifin Manufacturing Srl user s manual TPDM 9 1 Position control operating modes need to control the motor in position by using the position loop described in the block diagram shown in the figure below Reference speed feedforward Feedforward scale b70 7 b70 6 Window of position error Servo error Servo window 1 Servo error Servo window 2 abs Pr51 Position error Pr61 60 Q Pr6 Reference position Proportional gain for the positioner Speed reference regulator Pr65 64 Caugth position
129. erence of the positioning to the inside of the cam generators through algebraic sum with the reference of the master with the selection command b150 3 Pay attention if both commands b150 3 1 and b181 15 0 because the reference of positioning 15 used two times algebraic sum to the reference of the master in input to two generators CAMI and 2 and sum in output to the references of CAMI and 2 Activating the command b181 10 1 is possible to unload the reference generated from positioning in the global counter position Pr131 130 9 5 2 CAMI and CAM2 The two CAM generators are specifically designed to meet the requirements of automatic machines using electronic cams Four tables are available namely TABO TABI TAB2 and that have been implemented to perform a series of cam functions A vector made of 257 elements describes each table that indicate the position to be taken by the controlled axis when the motor axis 15 the position element number e master modul Master position 256 In each table the value of the vector elements is ranging between 0 and 9999 whereas 10 000 shall be the count number set in the slave module parameter In order to generate a table the axis route must be divided into 256 points the value of each point will have to be rated to 10000 because this 1s the maximum value that can be written in the table elements The 257th element of each table defines the cam as closed
130. erved and the user can not modify these When the arithmetic operations ADD SUB MUL DIV are used the operators are assumed to be words and are signed If a double word operation 15 required set b94 0 1 before the operation itself After the operation the PLC will automatically set this bit to 0 The parameters Pr58 Pr69 and Pr110 Pr149 are treated as double words so that in an operation such as ADD 71 72 64 the result 1 will be written in the double word Pr64 65 without having to set b94 0 1 before the operation If Pr80 1 and 81 0 the operation ADD 80 72 64 will give the result Pr64 65 1 while the same operation executed with b94 0 1 will assume Pr81 as the high word of the double word Pr80 81 and the result will be Pr64 65 65535 the first case operators other than Pr58 Pr69 Pr110 Pr149 are treated as words while in the second case they are treated as double words 124 Parker Hannifin Manufacturing Srl user s manual TPDM In the mathematical operations on double words the operands and the result are defined as follows the parameter of the operand defines the least significant part while the most significant part 15 represented by the next word After every arithmetic operation b99 2 0 if the result is positive and b99 2 1 if it is negative In the same way b99 3 1 if the result is 0 and b99 3 0 if it is not 0 These settings remain active until the next arithmetic operation is executed the operation is exec
131. es TabO Tabl Tab2 Tab3 As a default OPM14 TABO is active Some functions in which execute automatic loading of the tables are predefined and in addition there are the commands who allow the activation of the other tables in the cam generator The user can generate the function for every table through points construction variable TAB or through the motion laws predetermined in the drive in one of the four tables Following comes illustrated like recalling the functions Predetermined function 102 5 102 6 unction unction 102 7 102 8 function Triangular profile of speed 97 Parker Hannifin Manufacturing Srl user s manual TPDM Tabl Engage ramp Pr102 10 Tab2 isengage ramp r102 12 Pr102 11 unction y x senx Triangular profile of speed Pr102 14 Adaptation module of through Pr176 177 and Pr178 179 CAMI Pr102 can be setting through serial line CAN or pico PLC internal to the drive It s not possible set this parameter using the display The activation of the table in the cam generator can be given by direct command that executes immediately the selected table or defining one phase of the master and determining the activation point It is to cure of the customer the synchronization of the functions during the passages between the ta
132. essage of a parameter The message has the following format STX 101 ADDR BK LUN PAR DO Dn CHK CMD6 is the change bit message of a byte parameter The message has the following format STX 110 ADDR BK LUN PAR DO D1 CHK In this case LUN 2 or else two bytes are sent for the data The first byte is the mask containing the Os in the positions of the bits to be changed and 1s in the other positions while the second byte contains 1s in the positions of the bits that are to be set to 1 and Os the other 129 Parker Hannifin Manufacturing Srl user s manual TPDM positions The PAR address 1s that of the parameter byte where one or more bits are to be modified If the parameter 15 a word and the bit to be modified 15 one of the first 8 bO b7 PAR the parameter address otherwise if the bit to be modified is one of the upper 8 68 15 PAR the address parameter CMD7 15 the write message of a parameter to all converters connected to the serial line The message has the following format STX 11100000 BK LUN PAR DO Dn CHK The address of the peripheral device ADDR must be 0 Notes The parameters that are represented on the screen with decimals must be treated as complete values For example a value of 978 5 15 read and written as 9785 All values that are receded by the symbol are to be understood as hex numbers The value included inside the brackets identifies
133. eter the bit on the stack contains the result of the logical OR operation between itself and the y bit of the negated Pa parameter if the bit on the stack 1 the addition operation 15 executed the parameters which Pc Pa Pb if the bit on the stack 1 the subtraction operation 15 executed on the parameters which Pc Pa Pb if the bit on the stack 1 the multiplication operation is executed on the parameters in which Pc Pa Pb if the bit on the stack 1 the division operation 15 executed the parameters which Pc Pa Pb end of program input with fast scanning 123 Parker Hannifin Manufacturing Srl user s manual TPDM FUNCTIONAL DESCRIPTION The Pico PLC program is scanned every 6 144 milliseconds Based on this sampling the inputs are first read then the two timers Pr92 Pr93 b99 0 and b99 1 are updated the user program is scanned and finally outputs are updated For this reason both input reading and output setting can vary by 6 144 ms with respect to the physical event If the microprocessor is overloaded with work the operating mode is active there are frequent serial requests and the PLC program 15 long it may take more than 6 144 milliseconds to scan the entire PLC program b231 5 the instructions of the Pico PLC with the exception of the arithmetic instructions are single bit instructions The available stack has a depth of only one bit The LD LDN instruction load
134. eters PDO 1 rx communication parameters PDO tx communication parameters manufacturer Ox2000 0x2001 0 2002 134 parameters array 0 254 read write access parameters array 254 NR PAR read write access parameters array 0 254 set bit access Parker Hannifin Manufacturing Srl 0 2003 Ox2004 0 2005 0 2006 0 2007 0 2008 0 2009 0x200a Ox200b Ox200c 0x200e 0x200f 0x2020 0 2030 user s manual parameters array 254 PAR set bit access parameters array 0 254 reset bit access parameters array 254 PAR reset bit access pico plc area first 254 instructions pico plc area last 2 instructions CAM 1 table first 254 points read write access CAM 1 table first last 3 points read write access CAM 2 table first 254 points read write access 2 table first last 3 points read write access CAM 3 table first 254 points read write access Ox200d CAM 4 table first 254 points read write access CAM 4 table first last 3 points read write access 3 table first last 3 points read write access SDO timeout only for EtherCAT protocol blocks array 0 254 read write access in double word The parameters in double word can be read and written in blocks of two parameters the block number 15 half of parameter even Pr101 100 15 509 block Pr103 102 is 51 block 0 2060 10 2063 0 2065 digit
135. f them you must enter b94 3 1 The alarm will be displayed again and after updating the value of the parameter it must be saved by entering b99 15 again With configuration tool MotionWiz set the data plate in the custom motor table because MotionWiz uses these data to calculate the magnetizing current 6 3 Changing motor data After having entered a data save command no other changes shall be made to the motor parameters In order to change the entered parameter values new motor enter command b94 3 The drive shall return to its default condition and changing motor data shall be enabled again Repeat the data save procedure with command b99 15 with drive disabled if you want to recalculate parameters Pr2 Pr3 16 Pr17 Pr18 and Pr19 with the new motor data 6 4 Setting feedback The drive can use various types of sensor for control of the speed and current loop The choice of the type of drive must be made on order because there are three types of configuration of the drive The type of feedback 15 equal for each axis Note in case of TPDM multiaxis the feedback type must be equal per each axis 6 4 1 Select supply feedback The supply of feedback 15 between ECC and pins With resolver feedback the drive has a sinusoidal supply to SkHz with short circuit and overload protection the value of voltage 15 8 peak peak With encoder feedback the drive has a variable supply and the user must set th
136. f the motor and measure the stiffness 1n degrees The measured degrees will be the index of the regulator tuning quality Clearly it 1s not the only quality index WHAT IS NEEDED To adjust a converter correctly an oscilloscope with memory must be used A technician who can use it to carry out the operation will also be needed If it is not possible to use an oscilloscope a more approximate but applicable adjustment method will be illustrated at the end of this section 54 Parker Hannifin Manufacturing Srl user s manual TPDM BEFORE BEGINNING Study the diagram below carefully Fig 1 Run 500 S s HiRes 28 1996 08 40 26 Fig 1 This diagram shows the response of system to a square wave speed reference Channel 1 Chl represents the speed and channel 2 Ch2 the current of the motor The two traces cannot be seen at the same time but the trace to be displayed can be programmed using the binary parameter b42 4 The V div scale and the time basis will not be discussed here since they can vary greatly ESTIMATING THE Pr16 Before turning the converter on the user should estimate the value of 16 The value of 16 15 what defines the gain of the system To convert the value of Pr16 into grades per rated torque the formula Pr33 100 Pr16 Ipd current of the drive Before using the formula Pr33 must be set with the correct value of the rated current of the motor To evaluate the correct va
137. hat its value is 43 Suppose also that the converter has the serial address 0 The message to be sent 15 the following 7E 80 01 32 B3 131 Parker Hannifin Manufacturing Srl user s manual TPDM The converter responds with the message 7E 20 01 32 2B 7E 00 Second example reading a 2 byte parameter Suppose we want to read the reference speed Pr7 and that its value is 2000 Suppose also that the converter has the serial address The message to be sent is the following 7E 81 02 0E 91 The converter responds with the message 7E 21 02 OE D0 07 08 Third example writing a 1 byte parameter Suppose we want to select operating mode Pr31 Suppose also that the converter has the serial address 3 The message to be sent is the following S7E A3 01 3E 01 E3 The converter responds with the message 7E 23 Fourth example writing a 2 byte parameter Suppose we want to set the rated current to 2 5 A Pr33 Suppose also that the converter has the serial address 3 The message to be sent 1s the following 7E A3 02 42 19 00 00 The converter responds with the message 7E 23 Fifth example setting a bit to 1 Suppose we want to send the command to save the PLC program b99 14 1 Suppose also that the converter has the serial address 0 The message to be sent 1s the following 7E CO 02 C7 SBF 40 88 The converter responds with
138. he copying of parameter Pr122 123 W to Pr112 113 to the first front of the rise of input 0 or the zero encoder 15 enabled cre mr em W 0 b150 11 Cam engaging in phase with ramp Command to engage the cam W movement when the master reaches the level of Pr126 127 with a ramp defined by the parameters Pr132 133 and 136 137 b150 12 Electronic cam engaging in phase Command to engage the cam W movement when the master reaches the level of 126 127 This bit is automatically set to 0 when the command has been enabled b 150 13 Electronic cam release in phase Command to release the cam W movement when the master reaches the level of Pr128 129 This bit is automatically set to 0 when the command has been enabled 5150 14 Immediate electronic cam engaging Command to engage the cam W movement This bit is automatically set to 0 when the command has been enabled b150 15 Immediate electronic cam release Command to release the cam W movement This bit is automatically set to 0 when the command has been enabled b180 0 Start on master phase of Pr168 169 1 activates TabO table W to the specified phase master in Pr168 169 The values of the parameters for the activation on specific phase must be comprised between and the written module master Pr110 111 b 180 1 Start Tabl on master phase of Pr170 171 1 activates the Tabl table W to the specified phase master Pr
139. he position profile Speed up time positioner Acceleration ramp used during the generation of the position profile Master axis module Module axis master Master axis position Master axis position Target position positioner Parameter in which setting up the final position for the generator of trapezoidal profile considering 4096 steps to the turn Masterposition Master axis phase If b150 8 1 at first positive edge of 0 digital input or at zero encoder input see block diagram the position of master axe becomes Pr123 122 Master axis phase caught At every positive edge of 0 digital input or at zero encoder input see block diagram the position of master axe becomes Pr125 124 Master axis engage phase If b150 12 1 when master position Pr113 112 exceeds Pr127 126 Pr102 1s brought in position 2 and b150 12 returns 0 to indicate the engage Es W W W W user s manual TPDM 3 e un Ran 2 0 14 0 10000 0 20521 ME 1000 0 500 10000 10000 B 254 10000 10000 1 1 103 Parker Hannifin Manufacturing Srl user s manual TPDM r _ Field Def Res Par Pr129 128 Master axis disengage phase If b150 13 1 W 0 223 1 when master position Pr113 112 exceeds Pr129 128 Pr102 1s brought in position 1 and b150 13 returns 0 to indicate that
140. he right 15 the maximum position For the operation of positioning drives an exact knowledge of the absolute position 1s normally required Since for cost reasons drives often do not have an absolute encoder a homing operation is necessary There are several application specific methods The homing method 1s used for selection The exact sequence of the homing operation 15 clearly described by the method In some circumstances a device has several methods to choose from using the homing method with resolver feedback it s necessary set the object 0x6098 with negative sign In this case the homing function 15 stopped immediately after the home sensor and the actual position becomes the home position 12 1 8 1 Homing methods The following sub sections describe the details of how each of the homing modes shall function 12 1 8 1 1 Method 1 Homing on the negative limit switch and index pulse Using this method the initial direction of movement is leftward if the negative limit switch 1s inactive here shown as low The home position 1s at the first index pulse to the right of the position where the negative limit switch becomes inactive 153 Parker Hannifin Manufacturing Srl user s manual TPDM gt Homing on the negative limit switch and index pulse 12 1 8 1 2 Method 2 Homing on the positive limit switch and index pulse U
141. ided by the control system in order to allow for velocity and or torque feedforward Measured by sensors the drive device may provide actual values for position velocity and torque to the control device The behaviour of the control function is influenced by control parameters like limit functions which are externally applicable The drive internal control function 1s not specified more precisely in this part of profile specification as it is highly manufacturer specific but the format and content of the control parameters are provided 60B0h VAR Position offset INTEGER32 O 60BIh VAR Velocity offset INTEGER 32 O 60B2h VAR Torque offset INTEGER 16 O 6040h VALORE ASSOLUTOI6 604 1h VALORE ASSOLUTOI6 605Ah Quick stop option mode INTERO 16 Note the position loop resolution can be selected through parameter Pr288 that would be considered as the exponent of 2 elevated to the n power 2 170 Parker Hannifin Manufacturing Srl 12 1 11 1 Functional description user s manual TPDM Figure below shows the inputs and outputs of the drive control function The input values from the control function point of view are the target position and optionally a position offset to be added to the target position to allow two instances to set up the position as well as an optional velocity offset and an optional torque offset used for feedforward control Especially in cascade
142. if it is 0 or as open if it is 10 000 The cams will be able to perform the points listed the table if the required speed and torque are within the motor s electric limits Maximum Speed and Torque Through a series of parameters it 1s possible to automatically program one of the motion laws that have been set in the drive in one of the four tables Functions can be retrieved as follows 977 Parker Hannifin Manufacturing Srl user s manual TPDM Predetermined function Pr102 5 Function y x unction y x senx T 0 unction y senx Triangular profile of speed Tabl Engage ramp Tab2 Disengage ramp Pr102 11 Tab3 102 12 unction Triangular profile of speed Pr102 13 Adaptation module of through Pr176 177 and Pr178 179 CAM2 102 14 Adaptation module of through Pr176 177 and 178 179 CAMI After selecting the function by Pr182 the parameter is automatically set to zero The four tables are the same in both CAM generators the same table with the same function can be selected in both generators As a default drive configuration TABO is active in and is active in CAM2 In order to change the default setting there are some immediate commands active for both CAM generators or for CAMI only of the enable commands on programmable master phase see the OPMII block diagram The qualifications given from the parameters b181 9 b181 10 and 6181 11 determine the algebraic
143. ified tightening torque Make sure about the correct drive motor matching voltage and current ratings must be compatible The user 15 responsible for over current and short circuit protection of the drive Read carefully the specification given in the user manual Parker Hannifin Manufacturing Srl user s manual TPDM 1 5 Safety instructions for operation DANGER High voltage Risk of electric shock Danger of e All live parts must be protected against direct contact The drive must be closed inside cabinet before switching it on Working on power live parts terminals must be conducted with the drive switched off Dangerous voltages may be present at power terminals even after the supply has been switched off and the motor stopped Make sure the equipment cannot switched on unintentionally Wait at least 10 minutes before working on live parts after the unit has been switched off multi axis systems with additional capacitor modules the DC capacitor discharge time is considerably increased e g to 30 min in case of PSC modules Check discharge time instructions on all devices in the system for worst case conditions and make sure the system is de energized before servicing e The drive and the motor must be permanently connected to earth accordingly to the connection diagram even for brief measurements or tests Nas High leakage current Risk of electric shock Danger of life Earth leakage current during opera
144. iliary Enc OUT Dedicated to axis A only TPDM Dedicated to axis A onl 2 encoder OUT exp Board Dedicated to axis B and Enable command b39 10 Number of pulses nd 44 Enable command 539 10 2 23 Number of pulses X24 C 44 Encoder IN Power One connection of power supply X22 supply exp Board for 2 Enc IN of exp Board it s necessary save the parameters and restart again the drive to enable the function 190 Parker Hannifin Manufacturing Srl user s manual TPDM Usage example 3 axes Analog ref CN TPDM 3 axes with Analog expansion board lt Analog ref CN Analog ref Analog ref 191 Parker Hannifin Manufacturing Srl user s manual TPDM 22 Appendix L Asynchronous motor V F controlled Under construction The motor torque depends to the power transmitted at the synnchronous speed LB 0 where Q rad sec is Flussa magnetica indebolito Potenza Flussa magnetica indebolito Coppia 192 Parker Hannifin Manufacturing Srl user s manual TPDM 22 1 Parameters Par Description Field Range Ris ek e the load Yolpeak Pr301 Current magnetizing Determines the magnetizing of 0 2000 1 the motor In case of defluxing at constant power and 1 the speed is over the value of para
145. ilter Added axes onto EtherCAT 175 Parker Hannifin Manufacturing Srl user s manual TPDM b232 14 b232 15 b247 7 Component calculation FFWD from position reference b247 15 Watchdog This bit is to 1 at every block sync reception R O 176 Parker Hannifin Manufacturing Srl user s manual TPDM 13 Appendix A Conventions Reference Motor shaft movement motor shaft view Positive Feedback counter B A Tachometer signal 2 couple esin G 2 1 Encoder In L Increment counter B Lt dc 14 Appendix B Software timing Torque Speed reference management FIN management 2 Digtalinpts 00 00 2 Progamscanningpio PLC 0 0 Digtaloupus 0 0 000000 Thermal motor image 177 Parker Hannifin Manufacturing Srl user s manual TPDM 15 Appendix default program for pico PLC D O1 40 6 178 T TT LD OUT LD OUT LD OUT LD OUT END 90 0 41 5 90 1 40 6 41 4 91 0 41 11 91 1 digital input used to power the drive digital input 1 used for the stop function digital output 0 indicates that the converter is OK digital output 1 indicates that the thermal motor image 15 active end of the program Parker Hannifin Manufacturing Srl user s manual TPDM 16 Appendix D Flash information e TO SAVE USE THE BIT 599 15 PARAMETERS e TO SAVE THE PLC USE THE
146. in the section Input frequency connection If you use a digital input for the engaging command the digital input 0 in FAST IN mode must be used in order to minimize phase errors The positioner function follows a trapezoidal profile in which the acceleration and deceleration ramps are defined by Pr109 and by Pr107 Gf b231 13 1 the full speed by Pr108 and the final position by Pr118 119 one revolution of the motor equals 4096 steps The parameters can be modified at any time The current position of the positioner is given by the parameter Pr116 117 You can add a speed by using Pr104 9 3 1 TABO profiles in memory In OPM13 is possible use the to memory up to 51 trapezoidal profiles and for everyone is possible memorize the speed the acceleration deceleration ramp and the final position double word The Pr193 parameter contains the number of the profile to execute with b231 10 1 bit the function 15 able to transfer the block of 4 variables of profile in the positioner variables TABO word speed Pr108 TABO 2a word acc dec ramp Pr109 TABO 2a word dec ramp Pr107 TABO 4 e 5aword final position Pr118 119 With the qualified function b231 10 1 is possible execute automatically another profile simply setting up in the pointer parameter Pr193 another value Every scansion the parameters are transferred from the table to the positioner variables if the function 15 able b231 10 1 In o
147. ion requires the directories PAr and Fr Note a MotionWiz file slv must be copied on SD into Bees directory with 5 maximum characters 44 user s manual Parker Hannifin Manufacturing Srl In Xxx A O Format Pl Er M SD card OQ directory 5 Y M v 5 v PAr Al Fr 4 FEr 10 nOK ORD 4 Y Y 5 Delete file AR e ESC h gt FOL 8 M DELETE Fi d nE M y Y y File menu Y 4 Pe FE File 59 0 4 5 45 Parker Hannifin Manufacturing Srl A e aite 2 2 user s manual TPDM m e SAVE SAVE 47 gt par Pnnn slv par APnnn slv From MEM From MEM is E 0 Y Y Y o9 Load file from SD mE To M gt o etec Min Select file Restart the amp E
148. is b90 12 Status of motor brake unit 1 24V on brake b90 X that can be stored If X is greater than 12 only TPDM multi axis This is a bit that can be stored by the user b91 0 Status of digital output 0 Status of digital output O 591 1 Status of digital output 1 Status of digital output 1 b91 2 Motor brake command Command to open 1 close 0 the motor brake M R W R W R W u vw 45 4 3 2 9 2 2 2 22223 1 NO m Parker Hannifin Manufacturing Srl user s manual TPDM b913 Reserved b91 Y Available bit If Y is greater than 3 this is a bit that can be stored by the R W b94 0 Force a double word formatted operation When the unit is powered on this is If it is set to 1 the first mathematical operation executed by the pico PLC 1s done by using three double word type R W operands After the execution of the operation b94 0 1s automatically set to 0 If Pr60 Pro68 Pr110 Pr148 are used the double word formatting is implicit b94 5 First fast input enables 0 Enable the fast input 1 Disable the fast input b94 6 Second fast input enables 0 Enable the fast input 1 Disable the fast input b99 0 Status of the first timer Equal to 1 if Pr92 0 b99 1 Status of the second timer Equal to 1 if Pr93 0 b99 2 Equal to 1 if the result of the last PLC operation is negative 699 3 Equal to 1 if the result of the last PLC operation i
149. is value respecting the electric characteristics of the device following this table 6231 6 0 1 0 1l The selection of power input voltage 16 only performed at the drive s start up In order to enable the selected voltage save the parameters then switch off and on again the drive The feedback must be connected after the correct programming Attention the configuration of the feedback is realized only on A axis for all axes 48 Parker Hannifin Manufacturing Srl user s manual TPDM 6 4 2 Feedback configuration The following table reassumes all the possible configurations and indicates the relative formulation of the parameters of pulses lution Power supply Drive 9 b42 8 b42 7 6 revolu Resolver 0 0 ppm oM default Encoder 0 Pr196 Encoder SinCos default Pr196 EnDat Encoder SinCos only read Hiperface selectable SinCos Pr196 SinCos One sin wave per pole pitch SinCos encoder with Hall sensor ECC ECC Incremental selectable encoder with Hall sensor Pr196 DSL DSL selectable This selection configures the feedback of the speed control and of current and in the configuration of default it is used also in the position control After to have saved the configuration the activation of the selected feedback happens to the successive start up of the driv
150. ith or without feedback The operator interface based on parameters makes it easy to configure the converter Configurations of different kinds make it suitable for many applications The TPD converter allows controlling one two or three brushless motors with a single converter This feature allows saving space into the electric panel in multi axis configurations The drive includes a series of auxiliary functions that reduce the control electronics into applications with a considerable cost saving It uses widely diffused industrial programming standards and guarantees a high degree of freedom in selecting inputs and outputs The drive also offers the possibility to develop additional functions that are not included in the basic functionality of the converter such as gain correction for loops based on speed or space monitoring the used torque for tool life control etc It can be configured through the keyboard the serial line or the CAN bus via EtherCAT using an optional card 12 Parker Hannifin Manufacturing Srl user s manual TPDM 2 3 Identification The converters of the TPD series are available in different models see par models available The number that follows the TPD abbreviation corresponds to the rated current of the converter in amperes Use the following table to specify the order code TPDM AI A2 A3 Bl CI DI EI Fl Gl Where Al drive size axis A nominal current 2 5 8 A A2 drive size
151. ive Electronic equipment are generally not fail safe components Therefore the machine manufacturers should carry out a risk analysis for the whole machine in order to ensure that moving parts motors cannot bring personal injury in case of failures of electronic devices Parker Hannifin Manufacturing Srl user s manual TPDM 1 3 Safety instructions for transportation and storage ambient conditions given in the product documentation must be observed for transportation and storage temperature humidity mechanical stress and aggressive atmosphere Drives contain components sensitive to electrostatic charges which can be damaged by inappropriate handling Therefore during installation removal of drives provide the necessary safety precautions against electrostatic discharges discharge electrostatic charges of the human body before touching the drive always place the drive above conductive plates and avoid touching it with insulating material like synthetic fibres polymeric materials etc WARNING ANS of injury by incorrect handling Incorrect handing of the equipment may cause severe personal injury Use appropriate tools for transportation lifting handling and mounting Wear appropriate clothing for accident prevention safety shoes safety glasses safety gloves etc 1 4 Safety instructions for commissioning Com The high voltages inside the drive imply risk of electric shock Make sure that driv
152. ively with the bit 6150 3 1 and 102 2 the quota written the final position comes added algebraically with the reference of the master in the generator When the profile is finished the bit b150 3 is automatically set to zero it can be activated again if another quota 15 loaded in the final position 119 118 Parker Hannifin Manufacturing Srl user s manual TPDM 9 4 2 Speed mode It actives with 102 3 and the parameters are 100 speed and 101 acceleration and deceleration ramp 9 1 3 Electronic cam Four tables are available namely TABO TABI TAB2 and TAB3 that have been implemented to perform a series of cam functions Each table is described by a vector made of 257 elements that indicate the position to be taken by the controlled axis when the motor axis is in the position element number e master modul Master position 256 In each table the value of the vector elements 15 ranging between 0 and 9999 whereas 10 000 shall be the count number set in the slave module parameter In order to generate a table the axis route must be divided into 257 points the value of each point will have to be rated to 10000 because this is the maximum value that can be written in the table elements The 257th element of each table defines the cam as closed if it is or as open if it is 10 000 The block diagram highlights that the OPM14 has only one cam generator and is possible select one of four tabl
153. l be limited to the nominal value Description if the drive generates the max current starting from current after 2s Pr36 100 and b41 11 1 result the drive limits the current at the rated current This situation remains until the drive generates 0 current and after 35s Pr36 is 0 again Thermal image of the braking resistor read only Unit of the rated temperature Indicates the estimate of the heat of the braking resistor If the value reaches 120 0 96 Number of motor poles Bad 0 100 0 9 Temp converter issues an alarm user s manual TPDM Type R W M 01 R W M R W R W M R W M R W K M R W K M R W 68 432167 Parker Hannifin Manufacturing Srl user s manual TPDM Type LINE EIE 43 Zero encoder offset This parameter is used to modify 0 4095 p position of the output zero trace for the zero resolver Pr28 count Pr44 Number of pulses per revolution This is the number of 4 65000 1024 pulses per revolution that 15 used by the simulation encoder count b231 1 1 the number is a exponent of base 2 the max value is 18 Motor resistance The phase phase resistance of the motor 0 1 300 0 Ohm Pr 47 Motor inductance The phase phase inductance of the 0 1 500 0 K M motor CANopen address see section CANopen Result of encoder phasing At end of phasing necessary to rep
154. le whose speed will be that set in Pr3 The set speed has a resolution equal to 1 rpm the limit 1s the maximum frequency see the technical data Output signals phase A phase B will simulate an encoder of Pr44 step revolution with phase C of zero not coupled to a reference zero on TPDM multi axes the encoder simulation is unique for all axes The command b39 10 follows this TPDM Encoder OUT 109 Parker Hannifin Manufacturing Srl user s manual TPDM 539 10 1 0 0 AxisA enabled 539 10 0 1 0 Axis enabled b39 10 0 09 1 Axis enabled axis mu axes 9 6 5 Value comparators These functions are enabled ONLY with operating mode 11 13 and 14 The Pr96 95 and Pr98 97 parameters have the alternative function of value comparators With b94 10 0 then b94 8 if Pr96 95 gt Pr63 62 or Pr66 67 if feedback encoder With b94 10 1 then b94 8 if Pr96 95 gt Pr61 60 With 694 11 0 then b94 9 if Pr98 97 gt Pr63 62 or Pr66 67 if feedback encoder With b94 11 1 then b94 9 if Pr98 97 gt Pr61 60 This function is run every 6 144 ms If the value comparators functions are not used the Pr95 Pr96 Pr97 Pr98 b94 10 and b94 11 parameters by the PLC program as general purpose registers 9 6 6 Value capture At every positive front of digital input 1 the value of Pr63 62 or Pr66 67 1s captured and stored in Pr68 69 and 570 15 is set to 1 to signal the event 570
155. le the reference of This value is added algebraically to global counter of reference Enable counter position from CAM 2 to global counter Pr131 130 This command b181 10 1 enable the reference of 000854 4 positioner This value 1s added algebraically to global counter of reference Enable counter position from trapezoidal positioner to global counter Pr131 130 This command b181 11 1 enable reference of CAM2 This value is added algebraically to global counter of reference Lee xt Pr60 61 eem 1 Pr60 61 Enable counter position from trapezoidal positioner to reference position Pr60 61 Parker Hannifin Manufacturing Srl OPMII Master position E DEEP Lee Master axe position offset Pri17 116 96 Master axe Master position module Pr121 1201 O Pr111 110 5150 6 Master reference Master quota and master rephasing Positive edge detector Positive edge detector Master axe phase caught Master quota caught Master axe position Pr113 112 Pr123 122 Master axe phase b180 0 7 TABO 169 168 0180 4 6181 0 6180 1 1 6180 5 Pr171 170 b180 2 2173372 0180 6 2 b181 2 5180 3 175 17 1 7 eS gt 61813 L m e fe
156. led b99 13 0 the all instructions of the pico PLC 512 byte are used as automatic variables for the IEC 61131 programming Type Note language Caught motor FBK 0 INI 1 FBK C 020315 Timeoutpico PLC 2 0 b231 6 Select supply voltage of feedback see par Select supply W b231 7 voltage MM Attention this function 15 managed only by A axis for all axes 52318 1 encoder CANviaEtherCAT 0 b231 9 PWM motor control switching frequency There are three W b231 11 possibility see the appendix switching frequency Attention the configuration is realized only on A axis for all axes 5231 10 1 enable profiles on TABO Enable profile on Tab0 0 W b231 12 PTC motor pre alarm 1 This pre alarm allows to stop the machine before around 125 C 257 F reaching the alarm limit MEN around 135 C 275 F 6231 14 Enable scope via COM 1 Start 0 Stop O0 b231 15 Enable IEC 61131 1 Start 0 Stop 00 W 75 Parker Hannifin Manufacturing Srl user s manual TPDM Left limit 40 4 1 Analogue reference offset TT Pr1 Right limit 40 5 gt up nad Analogue Stop 406 abra e AD gt Main analogue input Reference offset Main reference Y Accel and decel Full scale ref 1 ramp 22 Analog contro Band limite
157. lt gt O 6150 8 Acceleration and deceleration ramp 85 Parker Hannifin Manufacturing Srl user s manual TPDM 9 4 Electronic cam operating mode 14 Operating mode 14 is expressly designed to meet the needs of packaging machines that require electronic cams This program is in the drive s basic configuration and it can be programmed by selecting Pr31 14 and b99 11 1 parameters to select the operating mode and to select default parameters of operating mode By setting b40 2 to 1 OPM14 will be turned on and using opportunely the mode selector Pr102 1s possible select the source for the position loop The possible sources are Mode selector Pr102 NO source positioning Reference position 1 opeed mode In OPMIA counters for the position loop are visualized to module Pr60 61 Pr62 63 and the value of the module is set on the parameter Pr114 115 9 4 1 Positioning This 1s a trapezoidal profile generator with the following user definable parameters e speed profile e acceleration and deceleration ramp e final value in motor step parameter referred to the final position 15 absolute The difference between the final position Pr119 118 and the reference position Pr60 61 generates the direction of the movement The generator of the profile begins when the Pr102 is equal to 1 and when reached the position the mode selector is automatically set to zero Alternat
158. lue of a let s consider that if the mechanical part to be moved is rigid non elastic and if there is no transmission play the optimal stiffness would be about 4 degrees If the mechanical part is not rigid enough it could be necessary to reduce the gain If the torque of the motor has been sized in order to obtain strong acceleration but during the operation the disturbing torques are very low it is possible to choose stiffness angles of 20 30 or 40 degrees thereby maintaining acceptable performance If it 15 difficult to choose the proper stiffness angle the user can begin with 10 degrees that is the default adjustment if a motor with the same rated current as the converter s is used At this point let us set the 16 to the estimate and turn on the axis with a square wave reference The user must be careful to choose reference ranges and frequencies in order to avoid problems if the axis has a limited course By observing the oscilloscope we will note that as Pr17 varies the response will change For decreasing values of Pr17 the response of the system will be as shown in figure 2 below to be used is the following 28 where a represents the stiffness and Ipd is the peak 55 Parker Hannifin Manufacturing Srl user s manual TPDM Tek Run 500 S s HiRes MMC 08 42 16 Fig 2 For increasing values of Pr17 the response of the system will be similar to what is shown in figure 3 below Tek Run 500 S s
159. lword 12 1 9 1 2 Statusword of profile position mode 15 14 13 12 11 10 9 0 __ Following error Set point acknowledge Targetreached 00 MSB LSB 159 Parker Hannifin Manufacturing Srl user s manual TPDM Target Halt 0 Target position not reached Halt Axle decelerates Halt 0 Target position reached Halt Velocity of axle is 0 generator has not assumed positioning values us 9 IET 1 Trajectory generator has assumed the positioning values 000 generator has assumed the positioning values Following a No following error Following error Table 10 Profile position mode bits of the statusword 12 1 9 2 Object dictionary entries 12 1 9 2 1 Objects defined in this chapter 6085 VAR Quick stop deceleration UNSIGNED32 rw O 12 1 9 2 2 Object 607A Target position The target position is the position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc The target position 1s given in user defined position units It 1s converted to position increments using the position factor The target position will be interpreted as absolute or relative depending on abs rel flag in the controlword 160 Parker Hannifin Manufacturing Srl user s manual TPDM OBJECT DESCRIPTION INDEX 607Ah Target
160. meter 208 this value decrease Pr302 Slip gain compensation This parameter is used to to 32768 100 1 have the real speed equal to the reference speed 32767 tuning with load During tuning of fixed boost 32768 100 1 32767 W 32768 32767 speed 0 until to 306 For speed higher boost 15 constant and equal to Pr306 Pr306 Max voltage fixed boost This parameter is used to minimize the torque current Iq Pr300 motor in V 32767 movement at half of nominal speed and without load the value of torque current must be near to 0 Can estimated a starting value using this rule 32768 1 32767 Pr306 R jase X Pr 220 set to 0 this parameter Pr303 Auto boost compensation Compensation of voltage boost so to realize a linear voltage in output tuning 4 Be X with load During tuning of fixed boost set to 0 this parameter Pr304 Stabilization gain Stabilization of torque current for big sizes of motors Pr305 Speed fixed boost This parameter is used to fix the speed from to the speed set into the parameter Pr305 following a linear function starting from Pr307 lt lt without load the value of torque current must be near to 0 be estimated a starting value using Pr307 Pr306 Pr309 Speed reference frequency after ramps Speed R frequency commanded after ramp rpm Speed fre
161. mmed point it 1s necessary to define the point of stop in which stopping the slave in step module slave this point of stop is written in the 118 119 parameter in step module slave This space must be sufficient to permit to stop the axis with the deceleration ramp programmed on the Pr109 in the start point in Pr128 129 and the final position point in Pr118 119 are too much near pay attention to master slave module conversion 15 necessary to add to the final position one or more slave modules Pr118 119 slave module final position internal at the slave module The compilation of the cam table 15 made in background and at the conclusion Pr102 15 automatically set to zero pay attention that if b40 2 0 the Pr102 parameter comes forced however to zero Moreover there are two conditions for a corrected operation of this engage cam 1 The final point of the disengage ramp 15 not accidentally chosen in the module slave but direct consequence of the chosen space of the engage cam The slave axis must be situated in advance regarding the position of Pr134 135 when the master is in Pr126 127 position of the quota Pr127 126 Pr133 132 ePr115 114 2ePr111 110 Advance quote Pr137 136 2 The speed in the points of passage between cam and deceleration ramp must be concord 108 cam speed 94 Parker Hannifin Manufacturing Srl user s manual TPDM Cam table engage automatic 150 12 1 autoset after engage and autore
162. n of the peak current of the converter Below we describe how to interpret the symbols used in the block diagrams The main block diagram describes graphically how the converter works Each rectangular block represents one or more read write parameters The rhomboid blocks represent read only parameters You can find other functional blocks in the diagram such as GREATER THAN EQUALTO LESS THAN logical AND OR For all these functional blocks standard symbols are used Binary parameters are represented as switches and the position in the diagram corresponds to the default value Reduced and extended menu When the TPD 15 in the default status only a limited number of parameters 1s displayed These parameters the only parameters necessary for those applications where the TPD 15 used as a simple converter and where the advanced functions of the converter for example if the TPD 15 used with a numeric control or with an intelligent axis board are not used To switch between the limited menu and the extended menu enter b99 6 limited menu if equal to 0 extended menu is 1 The parameters in the limited menu are PrO Actual speed of the motor shaft in rpm revolutions per minute Pri Offset for the main analogue reference Pr2 Full scale of the analogue reference this is the rpm value that corresponds to a reference voltage of 10 V Pr8 Value of the acceleration deceleration ramps in seconds per 1000 rpm with a resolution of
163. n Pr104 with 103 1256 101 Parker Hannifin Manufacturing Srl b181 14 Disengage comand 6181 13 Engage comand Pr105 Sector engage ramp Tab 3 Tab 1 0 Master module bs Master module 360 0 user s manual TPDM Pr105 Sector disengage Tab 0 Tab 2 Tab 3 Master module Es Master module E Master module 360 Speed curve for slave axe above described tables are of course an example case to describe the engage and disengage functions of an axis by changing tables and they are calculated in order to allow these functions for an axis that needs to be dynamically disengaged engaged according to a gearing law 102 5 _ 5 Of course it 1s possible to describe different tables for similar functions and load them the relevant array In order to accomplish this and more generally to ensure user access to cam tables as it happened previously for TabO these can be either read and written using the keypad or pico PLC by pointer Pr103 and value in Pr104 or through SBC CAN or serial port RS422 using address 4096 adjacent areas of 257 words per table Keypad SBC CAN o serial Tab 0 0 lt 103 lt 256 Tab 1 500 lt 103 lt 756 Tab 2 1000 lt 103 lt 1256 Tab 3 1500 lt Pr103 lt 1756 4096 address lt 4096 5 13 4096 5 14 lt address lt 4096 1027 4096 1028 lt address lt 4096 1541 4096 1542 lt
164. nal gain of the speed regulator M request frequency of the filter cut will be 1240 18 Hertz Pr 19 Peak current This is the maximum current that the 100 00 R W converter can supply to the motor It 15 expressed as a M percentage of the peak current of the converter In general it should never exceed three times the rated current of the see the appendix switching frequency Wr EMEN SEMEN on the DC bus Volt Torque limiter read only Can be used by the operating 2 he modes to limit torque to motor Cn Second analogue input Represents the value of the main analogue input 10V rpm 11 seconds are necessary greater than Pr15 641 1 will be 1 Otherwise it will be 0 Pr 18 Band width limiter Pr18 is used to set the time constant of 3 R W a first order filter placed on the digital signal of the torque motor Pr 23 Alarm code This is the code for the alarm that is present 0 255 Code 0 represents the absence of alarms Consult the table of alarm codes for more details Parker H Pr 24 Pr 25 Pr 26 Pr 27 Pr 28 5 4 29 30 31 32 33 34 35 36 37 annifin Manufacturing Srl Description Alarm sub code 0 255 Software version code read only Indicates the version 0 255 of the software that has been installed Serial line speed code This is the code for programming the transmission
165. nominator of the input encoder counting by CAN Pr156 157 counting encoder CAN Pr158 pointer to the parameter to send as virtual encoder on the CAN The encoder CAN 15 active in input and accepts the CAN signal with address setting into Pr202 The output encoder CAN is enable if Pb42 1 0 and it generates a encoder signal with the same address to CAN node If the command b42 0 15 enable is possible to generate a encoder virtual signal But differently to encoder traditional setting b70 10 1 the reference isn t the speed into Pr3 but is the position into the parameter pointed from Pr158 The bit b39 15 15 watchdog bit for encoder CAN and every time that an encoder message arrives the status 15 1 118 Parker Hannifin Manufacturing Srl user s manual TPDM If the encoder CAN function 15 activated the number of the free parameter decrease See the next table Description Field Range Def ratio numerator encoderin W 32000 0 1 ratio denominator encoder in CAN W 232000 l encoder CAN counter W 0 02255 l W W EUN W 0255 0 l 32000 0 1 Pulse numebr b42 0 turn motor NE encoder OUT Virtual speed encoder Motor position Address encoder CAN our Enable encoder CAN Pr27 b40 1 Enable virtual axis Motor position X1 Enable reference 642 0 b70 8 CAN
166. nput 0 b90 4 26 Parker Hannifin Manufacturing Srl 4 5 3 TPDM three axes A B C I O Terminal block X14 Axis B 8 I O Terminal block X15 Axis C 1 3 22 19 W P O NIN NINININI gt ON user s manual I O Terminal block X13 Axis A I O Terminal block X12 7 Safety Torque 3 Reference digital 2 OV Digital OUT supply if the bit b230 1 1 this input is not common to each axis only TPDM multi axis if the bit b230 1 1 this input is not common to each axis only TPDM multi axis Digital input 3 b90 11 Digital input 2 b90 10 Digital input 1 b90 9 Digital input 0 b90 8 24 Parker Hannifin Manufacturing Srl user s manual TPDM 4 6 Cable lengths and cross sections Choose a cable for flexible or static installation depending on the application See the table below for cable sections AWGIO 442 53 4425531 10 6 lb in lb in 13 3 Ib in 1 2 1 5 15 m Tightening torque M UL Compliance AWGIO AWGIO AWG10 AWGIO x4s CE Compliance 4 4 42 5 3 Ib in Tightening torque 0 5 0 6 Nm M3 UL Compliance Mechanical CE Compliance brake X46 1 95 2 21 Ib in 0 22 0 25 Nm 2 Maximum length of motor cables per axis total for all axes Max cable capacitance 150pF m 60 m 300m 0 22 mm AWGIO 1 95 2 21 Ib in 0 22 0 25 Nm 2 Max lenght Characteristics 60m 5
167. nstructions that appear during installation An icon linking to MotioriW iz exe program will be generated on your desktop at the end of the installation process F 4 Click on icon to start configuration program The following window will be displayed on your monitor Divisione Linguaggio Italiano info Lang hidrive 2 hidrive 3 hidrive 1 provaz prova ontinued proval Data on PC It is possible to select the desired language Italian or English How to generate a new file to set the data for motor and drive use the databases provided by the software that can be accessed through the icons below the figures when the drive and the motor pictures are out of focus it means that the relevant data have not been set yet Press ENTER to access the configuration functions How to use an existing file the menu shows a list of most recent files To open a file click on a name in the list Alternatively using the Open tab it is possible to search previously stored files selecting the relevant route The MotionWiz program can be found on the CD rom supplied with the drive or downloaded from our website www sbcelettronica com System required O S Windows2000 SP4 XP SP2 Browser Internet Explorer ver 6 0 Mouse Propriety video SETTINGS video resolution advised 1024 768 1280 1024 SETTINGS ADVANCED settings DPI normal 96dpi
168. og OV 38 Parker Hannifin Manufacturing Srl user s manual TPDM 4 21 Frequency input output connection The drive has the possibility to read the input Encoder IN type The input can receive signals in quadrature and frequency sign b42 5 from an incremental encoder to 5 Volt DC as from standard LineDrive RS422 Follow the outline of connection for the reference of frequency whether from an encoder or from an external module At 42 180 7 13 180 B 1 5VE 11 0 39 Parker Hannifin Manufacturing Srl user s manual TPDM 4 22 Connecting the drive to the digital lock MASTER DRIVE DRIVE 2 In the example given above 15 shown the connection of two drives to the Digital Lock with a master but the diagram could be extended to several converters respecting the series connection The line charge resistors must be connected to the last converter The master can be an encoder powered externally or an encoder simulator of another converter The signal of the master encoder must in any case be of differential type 5V RS 422 You can connect up to 32 converters to the electrical shaft by using the same signal of the simulated encoder standard RS 422 See par Digital Lock Positioner about the programming 4 23 CAN line connection MASTER 7 8 NODE 1 NODE LAST NODE Dv There is a CAN bus interfac
169. oidal Encoder Motor Interconnectron Signal Connector AID le LN 2 Bt 2 if EAR red Ha 2 get XL oe 3 ES SHIELD da 3 sor ow gt lt gt lt iow E 5 9 lt 10 T lt x 0 5 221 0 5 x Hou quan i 5 ECC LO JL x 0 5 brown 4 ELI 32 Parker Hannifin Manufacturing Srl user s manual TPDM 4 15 Sinusoidal Encoder 4 EnDat no Ve 8 8 E ENS 8IX 2X OLX 993 v 203 51 It s possible to use a Heidenhain cable or one with the same features The cable must not be longer than 20 metres 33 Parker Hannifin Manufacturing Srl user s manual TPDM 4 16 Sinusoidal Encoder Hiperface J n 2 S3 d KA 9 E 5 e D Bo ETE NENNEN EN EE NENNEN Y 719 5 1 SM 4 a fI xe IT m E Jld l PLTC SE olx N B the drive requires that the sin and sin signals must be inverted as shown above 34 user s manual Parker Hannifin Manufacturing Srl 4 17
170. on range for more than following error time out time the bit following error bit 13 in statusword 1s set Accepted following Position Error tollerance Following Following error gt lt error window window Following error No following error Following error reference position Figure 34 Following error The following error window 15 used to signal by mean of status word the servo error condition on user defined BIT14 when Interpolated position mode 15 active and with standard bit 13 in profile position mode If the user sets b70 12 a fault reaction sequence 15 entered and according to the fault reaction option code valid values 0 1 2 the motor 15 stopped and finally disabled sending emergency message with error code Oxff11 and user data loaded with pr 153 152 165 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 10Interpolated Position Mode operative mode 202 In Interpolated Position Mode Pr31 202 the cycle time is set in the object 0 1006 communication cycle period and depending on the value set in this object different ways of regulation are possible If the value is less than 2500 usec the position loop is executed at the moment the sync signal is received the position reference received on the PDO 1s directly processed as target of the position loop If the value is more or equal than
171. onnect only 24Vdc power on the drive set b99 7 and b99 13 to 0 issue the command b99 12 save the set up using commands b99 14 and b99 15 6 2 Selection of motor type The first time the converter 16 powered up or following to a default command the drive indicates condition alarm Pr23 15 In order to leave the drive s initial condition the operator shall have to input the motor data The parameters defining motor types are the following ones Pr29 Number of motor poles N Pr32 Rated speed of the motor r p m Pr33 rated motor current ex 2 5A write 2 5 A Pr34 number of resolver poles N Pr46 phase phase motor resistance 1 80 write 1 8 ohm Pr47 phase phase motor inductance ex 2 6mH write 2 6 mH With asynchronous motors the values above shall be supplemented with the following parameters Pr217 1 or 2 Pr218 base Sp eed r p m Asynchronous motor only Pr219 slip r p m Pr220 magnetizing current A Pr308 motor voltage supply V If the thermal sensor of the motor is different from the PTC type please select the correct sensor b42 14 and b42 15 47 Parker Hannifin Manufacturing Srl user s manual TPDM After setting the parameters that fit the motor the operator must give the save data command b99 15 The drive will calculate the correct values of Pr2 Pr3 Pr16 Pr17 Pr18 and Pr19 and save parameters At this point the basic parameters cannot be modified If you want to modify one o
172. open haul gt of the algorithm to suppress vibration at 0 speed If MET 1 the algorithm 1 turned 540 2 Selection of reserved user reference If 1 reserved reference of the operating mode in use 15 used If 0 the reference selected by b40 0 b40 12 and b40 13 1s used 71 Parker Hannifin Manufacturing Srl user s manual TPDM e Type b40 3 Reference hold If 1 the reference will not be updated and the R W motor will not follow the variations of the input reference If 0 M the reference will follow the variation of the input reference b40 4 Left limit switch If 1 and the reference selected requires R W positive speed the reference 15 set to 0 following the ramp set in M Pr12 If 0 no control 1s made Right limit switch Default 0 If and the reference selected b40 5 requires negative speed the reference 15 set to following the ramp set in Pr12 If 0 no control 1s made b40 6 function If 1 the motor is set to zero speed following the ramp set in Pr12 M b40 7 Selection of the absolute relative speed window If 0 the speed R W window Pr14 Pr15 b41 1 will function in relative mode Otherwise MES if 1 it will function absolute mode b40 9 Software enable If 0 the converter cannot be enabled DX M W If 0 1 b40 11 Injection of third harmonic in modulation na b40 12 Selection of the digital analogu
173. or B is equal to 1 C 1 Otherwise C 0 e values coming from the hardware e values sent to the hardware e the value of A is converted to B For example if in the triangle symbol you see A D this means that the analogue value of A was converted into the digital value B e The maximum value of A will be PrX Parker Hannifin Manufacturing Srl user s manual TPDM 8 1 Main parameters Legend read W write M memory K key parameter Motor speed a read only parameter expressed rpm 9000 PrO message is not ever displayed on the screen Instead the rpm message indicating the status of the converter 15 displayed Analogue reference offset Expressed as a count of the input converter Pr2 First full scale of analogue reference If b40 0 0 and er b40 12 0 the value of Pr7 will be equal to Vin 2 9 76 rpm where Vin is the voltage at the analogue input Second full scale of the analogue reference If b40 020 10000 3000 and b40 12 0 the value of Pr7 will be equal to Pr2 rpm 9 76 where Vin is the voltage at the analogue input Type Note If b42 0 1 b42 1 0 and b42 5 1 Pr3 is the speed of the virtual axis Pr4 Full scale of frequency reference If 40 12 1 32767 3000 b40 13 1 the value of Pr7 will be the following rpm If b42 5 0 Pr7 Fin Pr4 2 2000000 frequency sign signals If b42 5 1 Pr7 Fin Pr4 2 500000 qua
174. or via the speed reference 15 0 002 0 002 65 535 s krpm internally limited so that to achieve an acceleration of 1000 rpm Pr10 seconds are necessary 11 Deceleration ramp for negative speed Positive speed R W deceleration required by the motor via the speed reference 1s M internally limited so that to achieve an acceleration of 1000 Pr 12 Deceleration ramp for limit switch and stop functions 0 002 R W Deceleration required by the motor for limit switch and stop M functions is internally limited so that to achieve an acceleration of 1000 rpm 12 seconds are necessary 13 Overspeed limit If the absolute value of the motor speed 0 13000 3500 R W exceeds value set in Pr13 b41 0 will be 1 Otherwise EE it will be 0 Pr 14 High speed limit If b40 7 0 and if the difference of the 13000 20 R W speed of the motor and the reference 1s less than Pr14 and rpm M greater than Pr15 641 1 will be 1 Otherwise it will be 0 If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 b41 1 will be 1 Otherwise it will be 0 15 Low speed limit If b40 7 0 and if the difference of the 13000 20 R W speed of the motor and the reference 1s less than Pr14 and rpm M If b40 7 1 and if the motor speed is less than Pr14 and greater than Pr15 641 1 will be 1 Otherwise it will be 0 M Damping of the speed regulator If 16 0 Pr17 is proportio
175. orque offset To compensate weight force The value 2048 R W is referred to the peak current of the drive 2048210096 of the drive peak current see the par feed forward speed loop Pr286 Speed FFWD filter 1001 RW Pr287 Torque monitor see the par feed forward speed loop 0 100 0 2 RI Pr308 Motor voltage supply Voltage between phases E NMEEL d M see the par Parameters set up of the PSU manual Thermal sensor alarm Example Pre alarm Alarm Motor temp reper _ pee 02 o p secou DSL 40 O 499 12709 Q9 _ penad 0 EL DL 32950 PC 8 2 Binary parameters Type b39 2 1 if feedback supply is active 639 5 Motor speed 1 Motor speed calculated every 6 1445 0 speed 1 Enable CAN scope O TW b39 10 1 Enable the simulated encoder 1 simulated encoder 15 enabled In multi axis configuration only one axis can be set to 1 see frequency inputs outputs OW R W b39 15 Watchdog encoder CAN 1024 us R W mE _ 0 EM b40 0 Selection of the first or second full scale of the speed reference If 0 Pr2 will be used to rate analogue reference If 1 parameter Pr3 will be used b39 13 CANopen send user fault User alarm message b39 14 CANopen Node Guard watchdog see par CAN
176. output OUTI according to the present position of the motor in a module The user has to set the value corresponding to the module in Pr144 145 Inside the module can be defined 2 further values Pr146 147 and Pr148 149 indicating the position at which the digital output is toggled The user has to initialise the value of the motor position at Pr142 143 and the output status at b91 1 the function is enabled by 670 3 1 and in this case Pr142 143 shows the motor position inside the module An offset for this position may be set at Pr140 The refresh time of the digital output 15 512 The limits for the parameter values are Pr140 range 142 143 0 2 144 145 0 2 Pr146 147 range 0 2 148 149 range 0 2 0 lt Pr146 147 lt Pr148 149 lt Pr144 145 111 Parker Hannifin Manufacturing Srl user s manual TPDM 9 6 8 Analogue output programmable In terminal block is available one analogue output programmable The parameter 188 defines the parameter to monitor The analogue output scale has a range from 2047 to 2047 counts corresponding 10 By parameter Pr189 is possible to modify the scale the value is the exponent of base 2 There are three different cases Pr188 Pr0 monitor speed has in output 10V when 0 32 while 10V when Pr32 with Pr189 0 Pr188 Pr35 monitor torque has in output 10V when Pr35 is equal to pick current if Pr19 10
177. peration display The modes of operation display shows the current mode of operation The meaning of the returned value corresponds to that of the modes of operation option code index 6060 146 Parker Hannifin Manufacturing Srl user s manual TPDM OBJECT DESCRIPTION INDEX 6061h Modes of operation display Object Code Data INTEGERS ENTRY DESCRIPTION PDO Mapping Value Range INTEGER8 Default Value DATA DESCRIPTION Same as for object 6060 modes of operation NOTE The actual mode is reflected the modes of operation display index 6061 and not in the modes of operation index 6060 12 1 3 Functional description 12 1 3 1 Modes of operation function The device behavior depends on the activated modes of operation It is possible to implement different device modes Since it 1s not possible to operate the modes in parallel the user 1s able to activate the required function by selecting a mode of operation An example of exclusive functions are those for position and torque control which can only control one variable at any one time The variables can perform at most a limited function Such hybrids are regarded as the particular characteristics of a mode of operation Position control operation and encoder profile support can be active at the same time for example Consequently encoder profile support 15 not regarded as a mode of operation Modes of operation 6060h Y gt Profile veloci
178. position setpoint as soon as the sync signal 15 received In case of cycle time longer than 2500 usec both with linear interpolation and cubic interpolation with position and velocity the point specified in the target position received on the PDO will be activated as trajectory setpoint at the end of the cycle time started with the sync signal that validated the target position so with a cycle time delay As last in case of cycle time longer than 2500 usec and cubic interpolation with position reference only the point specified in the target position received on the PDO will be activated as trajectory setpoint at the end of the next cycle time started with the sync signal that validated the target position so with two cycle time delay Object 60COh Interpolation sub mode select 6 60CIh ARRAY Interpolation data record INTEGER32 O 6040h UNSIGNED 16 166 Parker Hannifin Manufacturing Srl user s manual TPDM Note the position loop resolution can be selected through parameter Pr288 that would be considered as the exponent of 2 elevated to the n power 12 1 10 1 Object 60C0 Interpolation sub mode select For the interpolated position mode a manufacturer may offer different interpolation algorithms This object reflects or changes the actually chosen interpolation mode OBJECT DESCRIPTION INDEX 60COh Interpolation sub mode select Object Code Data INTEGERIO Optional ENTRY D
179. quency in output current limit This value reduces the frequency when the current required is higher of the motor rated current At the stall 15 equal to the reference frequency so the frequency commanded is zeroed Pr311 Output frequency Speed frequency commanded R 32768 rpm 32767 Pr307 Min voltage fixed boost This parameter is used to minimize the torque current Iq Pr300 motor in movement with speed between O0 and Pr305 and 32768 A 432767 Pr312 Total current absorbed Total current of the motor 0 1 composed vectorially between Iq Pr300 and Id O Pr301 m 193 Parker Hannifin Manufacturing Srl user s manual TPDM 23 Revision history of the User Manual RevO November 2009 First edition Rev 0 1 December 2009 Switching frequency Rev 0 2 April2010 SD management Shield fastener EtherCAT option Static brake by controlword Rev 0 3 July 2010 OPM203 Encoder OUT Code option Rev 0 4 September 2010 Brake connection single axis Rev 0 5 May 2011 Internal fan capacity Analog expansion board Feedforward of speed loop Model 15 5 Motor brake management OPM200 modified bits of Left limit switch b91 5 and of Home switch b91 6 Rev 0 6 April 2012 Encoder CAN Touch Probe function Asynchronous motor V F DSL Resolution 20bit opm202 opm203 Rev
180. r Pr2 0 0 P Integer gain PO p dampening i Pr16 Frequency Full scale ref 29 2 27 Ae input Frequency reference AIF Pr4 7 540 13 Internal reference Current Torque monitor Reserved reference Motor speed active Motor Speed window Nominal current po lt o 0407 5408 0 Analogue auxiliary input torque Motor speed Torque limit 21 Alarm management High speed limit In speed E od Loww speed limit pe undervoltage Zero speed overcurrent 4 Speed Ioop FBK error 39 41 3 forward Ae e m Drive enable External alarm overtemperature Overspeed limit gt lt 415 gt gt a gt Hardware enable speed A 8 Default 0 Auxiliary alarm parameter Check Sum PLC Software enable 40 9 Check Sum parameter Brake ovenoacl p gt Calibra error Braking resistance protection Ambient evertemperature t fr Brake overcurrent Me speed FBK initializing emor 4 alarm active Drive ok 76 Parker Hannifin Manufacturing Srl user s manual TPDM 9 Operating modes Parameter Pr31 default 0 is used to select the operating mode Every op
181. r Hannifin Manufacturing Srl user s manual TPDM 20 1 Setting parameters of EtherCAT communication Additional axes b232 13 b232 14 b232 15 0 0 0 TPDM Single axis 0 added axis TPDM 2 axes laddedais 1 0 0 TPDM 3 axes 2addedaxes 0 1 0 The setting of the additional axes must be executed only on the drive with the EtherCAT board Note the maximum number of the additional axes 2 Setting the following parameters Enable the remote mode b272 9 1 Conversion units of speed count sec and acceleration in count sec b272 1 1 186 Parker Hannifin Manufacturing Srl user s manual TPDM 21 Appendix I Analog expansion board 21 1 Introduction The analog expansion board E7 in the TPDM order code This board permits to the TPDM the connection to CN machine analog reference and the simulation encoder This option must be used when the analog reference resolution of the standard TPDM is not sufficient because major resolution is required and when are required 2 or 3 encoder signal as feedback The analog expansion board includes analog references 14bit sign 2auxiliary encoder Input power supply requested externally by X22 2simulated encoder Output The analog expansion board can be used on TPDM 2 axis or 3 axes e The option on TPDM 2 axes introduces 2 analog references 1 dedicated to axis A and 1 dedicated to axis B and 1 auxiliary encoder INput
182. rder to insert the values in variables of TABO using the configuration tool it is necessary open the monitor window where it is possible to access from Pr2048 to Pr2302 parameter where there are the variables of the 51 trapezoidal profiles and it possible read and modify them To insert the values via keypad it necessary OPM14 or OPM11 and use the parameters Pr103 and Pr104 see the paragraph Automatic activation of CAM tables It is necessary save the parameters for guarantee the memory of the profiles inserted 62 Parker Hannifin Manufacturing Srl user s manual TPDM TABO point Pr118 m 119 Final position MM Pr109 Accel Decel ramp 7 Pr107 Decel Ramp 6231 13 1 Pr118 119 Final position Pr108 Pr109 Accel Decel ramp 49 Pr107 Decel Ramp b231 13 1 118 Pril9 Final position Pr108 Pr109 Accel Decel ramp 50 107 Decel Ramp b231 13 1 118 Pr119 Final position OPERATING MODE 13 PARAMETERS Pa Description 7 Range Def Pr103 Acceleration and deceleration ramp el 0 0 500 1 ms Axis The acceleration and deceleration 30000 required for the motor can be limited in order to s Krpm achieve a jump of 1000 rpm that takes Pr103 thousandths of a second This can be useful when the axis 15 suddenly attached P04 Addition sped w 3630 0 1 Pr107 Deceleration ramp positioner This is 0 5 11 enabled if the bit b231 13 1
183. rs Pr92 and Pr93 To use the first timer load the time as a number of sampling 6 144 ms into PR92 For example Pr92 100 is equal to 614 milliseconds Pr92 will automatically be decremented as time goes by and the b99 0 bit will remain set to until the timer has expired When Pr92 0 then b99 0 1 The second timer works the same way using the PR93 parameter and the 599 1 bit Pr92 Pr93 b99 0 and 699 1 are updated only before the pico PLC program 15 scanned The maximum number of instructions 1 256 The arithmetic operations occupy the space of two logical operations If they are used the maximum number of instructions accepted 15 reduced The PLC program must always end with the END instruction The pico PLC program can be edited via serial link or directly using the keyboard In this last case in order to facilitate the modification of the program if you want to delete an instruction go to the instruction to be deleted and hit the M key The type of instruction 15 then displayed By holding down the M key and pressing the key the instruction will be deleted when both keys are released If you want to add an instruction after the In06 go to the next instruction InO7 and hit the M key The type of instruction is then displayed By holding down the M key and pressing the key the FIN instruction will be inserted when both keys are released In this last case make sure that the program does not exceed the maximum limit of th
184. rter must be mounted vertically with the power block e Aspace of at least 100 mm must be left free above and beneath the converter 4 1 How to suppress interference In order to meet the product requirements regarding electromagnetic compatibility the installation must be carried out according to the following instructions Because of strong PWM voltage fronts undesirable currents of significant force can sometimes circulate through capacitive couplings and grounding systems conducted interference Besides also high frequency interferes are generated in form of radiation especially through the motor cable radiated interference The reduction suppression of both conducted and radiated interference can be obtained through grounding shielding and filtering In particular filters reduce the interference conducted in the cables and the return of interference conducted at the source the frequency converter by using paths with the lowest possible impedance In this way other systems connected to the same electrical line can be protected effectively and the frequency converter will also be protected from the interference of other systems Basically the criteria are essentially based on grounding filtering and shielding 4 1 1 Grounding In the electric panels where the drives are usually installed there are two ground systems EMC ground or HF reference high frequency represented by the wall made of non painted metal onto which dri
185. s 0 699 13 PLC status If set to 1 PLC program is executed If 0 R W program 15 not executed but the PLC instructions can be modified 1 b231 5 Time out pico PLC 1 If microprocessor is overloaded with work the operating mode 15 active there are frequent serial requests and the PLC program 15 long it may take more than 6 144 milliseconds to scan the entire PLC program b231 5 1 127 rp f OUTN Pa y SET Pa Parker Hannifin Manufacturing Srl PLC INSTRUCTIONS Pa y Pb Pc Pa Pb Pc Pa Pb Pc Pa Pb Pc y 0 1 user s manual TPDM loads the y bit of the Pa parameter on the stack loads the negated y bit of the Pa parameter on the stack sets the y bit of the Pa parameter to the value loaded on the stack places the y bit of the Pa parameter to the value of stack negating it if the stack 1 the y bit of the Pa parameter 15 set to 1 if the stack 1 the y bit of the Pa parameter 15 set to 0 the bit loaded on the stack contains the result of the logical AND operation between itself and the y bit of the Pa parameter the bit of the stack contains the result of the logical AND operation between itself and the y bit of the negated Pa parameter the bit loaded on the stack contains the result of the logical OR operation between itself and the y bit of the Pa param
186. s the bit defined as an operand on the stack while all the other logical instructions work on the stack Arithmetic instructions are executed only if the stack bit is set to 1 For user convenience truth tables of logical operations are given below AND logical operation OR logical operation bit A bit B result bit A bit B result 0 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 1 1 1 1 1 1 1 The respective negative operations ANDN ORN follow same logic except that the negated value of the bit specified will be used 9 bits from b90 7 to b90 15 are reserved on the PLC and can be stored 14 additional bits from b91 2 to b91 15 are available on the PLC but cannot be stored They are always set to 0 when the converter 15 powered on 10 word parameters are also reserved These are from Pr80 to Pr89 They can be stored and used as 5 double word parameters just as the 13 parameters from Pr151 to Pr163 7 of this 13 parameters be reserved if the Encoder CAN function 15 actives see par CAN The pico PLC includes 9 constants for arithmetic operations These are from Pr71 to Pr79 and can be the constants most used by normal applications Remember that the array of the parameters 1s increased to complete the new operative mode the parameters from 168 to 187 are available on the PLC but cannot be stored the parameters from 164 to 167 are res
187. set after engage to the drive s TAB Master Module Pr110 111 30000 Step Motor 4 Slave Module Pr114 115 10000 Step Motor space covered in engage from slave Pr137 136 1000 step slave module Reservation engage slave axis on master module b150 11 1 autoreset Master space engage 6000 Step Slave space engage 2000 Step 132 133 24000 Pr126 127 30000 step master module step master module Master module Pr110 111 30000 Step Motor Slave module 114 115 10000 Step Motor Reservation engage slave axis on master module Pr128 12 b150 13 1 autoreset Depends dynamics of the machine Slave axis position in step slave module after dec ramp Pr118 119 9000 0 30000 95 Parker Hannifin Manufacturing Srl user s manual TPDM 9 5 Electronic cam op mod 11 Operating mode 11 is expressly designed to meet the needs of packaging machines that require 2 electronic cams This program 15 in the drive s basic configuration and it can be programmed by selecting Pr31 14 and b99 11 1 parameters to select the operating mode and to select default parameters of operating mode Some of the most widely used motion functions of industrial automation are available within this mode Namely this operating mode includes the following position reference generator positioner speed mode generator generator 9 cam2 generator The resulting position reference 1s increment
188. shall indicate the configured function Bit 0 1 enable probel bit 4 1 enable sampling at positive edge of probel bit 8 1 enable probe2 bit 12 1 enable sampling at positive edge of probe2 Ox60b9 Touch Probe status this object shall provide the status of the touch probe Bit 0 probel 0 switched off 1 enabled Bit 1 probel 1 touch probe positive edge 136 Parker Hannifin Manufacturing Srl user s manual TPDM position stored Bit 8 probe2 0 switched off 1 enabled Bit 9 probe2 1 touch probe 2 positive edge position stored Ox60ba Touch Probe pos positive value this object shall provide the position value of touch probe 1 at the positive edge Ox60bc Touch Probe pos2 positive value this object shall provide the position value of the touch probe 1 at the positive edge 0 60 0 Interpolation sub mode selection valid values O linear interpolation 1 cubic interpolation with position and velocity 2 cubic interpolation with position Ox60c1 1 Interpolation data record INTEGER32 interpolator position reference 0x60c1 2 Interpolation data record INTEGER32 interpolator velocity reference in counts sec 0x60c1 3 Interpolation data record INTEGER32 interpolator velocity reference in RPM Ox60f4 Following error this object shall provide the actual value of the following error 0x6502 Supported drive modes see 0x6060 0 6504 Drive Manufacturer
189. sing this method initial direction of movement is rightward if the positive limit switch 15 inactive here shown as low The position of home is at the first index pulse to the left of the position where the positive limit switch becomes inactive 8 amp eee Index pulse Figure 23 Homing on the positive limit switch and index pulse 12 1 8 1 3 Methods 3 and 4 Homing on the positive home switch and index pul Using methods 3 or 4 the initial direction of movement is dependent on the state of the home switch The home position is at the index pulse to either to the left or the right of the point where the home switch changes state If the initial position is sited so that the direction of movement must reverse during homing the point at which the reversal takes place is anywhere after a change of state of the home switch 03 gt Index pulse Home switch Figure 24 Homing on the positive home switch and index pulse 154 Parker Hannifin Manufacturing Srl user s manual TPDM 155 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 8 1 4 Methods 5 and 6 Homing on the negative home switch and index pul Using methods 5 or 6 the initial direction of movement is dependent on the state of the home switch The home position 1s at the
190. speed For more information consult the section on the serial interface Attention the speed code is managed only by A axis for all axes Serial line auto address code at the start up the addresses 0 31 are setting in automatic For more information consult the relevant section Attention the address code 15 managed only by A axis for all axes Motor shaft position read only Indicates the absolute 40 position of the motor feedback coun Offset of the resolver position Used to correct electronically the mechanical position of the resolver Operating mode Used to select the active operating mode The value 0 means that no operating mode has been selected Rated speed This 15 the rated speed of the motor The 0510000 speed that has been set is used to limit speed request rpm Therefore it should be set to about 10 greater than the maximum operational speed must be set see the appendix switching frequency A Number of poles on the resolver must be lt 29 Torque monitor Unit of the torque at peak current resolution 0 146 Indicates the percentage of the torque or of the current that the motor 1s supplying Thermal image winding read only Unit of the 0 100 0 rated temperature Indicates the estimate of the heat in the Zo Temp innermost coils of the motor If this reaches the value of 100 0 equal to the nominal value b41 11 will become 1 and therefore the current wil
191. ss 2K3 25 70 13 158 F TA humidity UL open type equipment up to 45 C 113 F For higher installation altitude derate the output current by 1 5 each 100m up to 2000m maximum 3 2 Vibrations and shocks UA DE 5 1 frequency Hz amplitude mm acceleration operation class 9 lt f lt 200 E SES __2 lt lt 9 lt 9_ _ 35 o MI class 9 f 200 10 200 lt f lt 500 o 105 3 3 Available models Available models d 2 I 2A 32A 2A 3 1 15 Parker Hannifin Manufacturing Srl user s manual TPDM 3 4 Power supply Control stage Me MR Supply voltage Curent ss Stationary brake Supply voltage 24V 10 Power stage DC voltage supply 300 750 3 5 Technical characteristics Models 2 5A 8 10A 15 30A Rated output current JAms 2 5 8 10 15 30 Peak output current 2 sec 4 10 16 20 30 60 kw 1 27 43 53 8 16 Continuous service installed load 3 48 6 9 18 hp 16 40 64 80 121 241 Power stage dissipation Switching frequency 18 J 4 Output frequency 1 axis 5 current 3 axes it intemal fan capacity Internal DC capacitors 2204 Max continuous module output current
192. struction The parameter address 1s the number of the parameter 2 with 13 bit field PAR represents the least significant eight bits of the address the 5 most significant bits must be written the BK field The table used by electronic cam starts at the address from 4096 to 4609 the table CAMI starts at the address from 4610 to 5123 the table starts at the address from 5124 to 5637 the table CAMS starts at the address from 5638 to 6151 The PLC instructions have the address from up to 511 DO Dn data transmitted 256 module sum of all the fields excluding the STX checksum Message types CMD1 is the response message of the converter to a data request The response message has the following format STX 001 ADDR BK LUN DO Dn CHK or it can be the confirmation message to a data write or data modify In this case the format 15 the following STX 001 ADDR where ADDR always identifies which converter is answering CMD2 is the read message of an instruction in the PLC area The message has following format STX 010 ADDR BK LUN PAR CHK CMD3 is the write message to an instruction in the PLC area The message has following format STX 011 ADDR BK LUN PAR DO Dn CHK 4 is the read message of a parameter The message has the following format STX 100 ADDR BK LUN PAR CHK 9 is the write m
193. sum of the references generated into the counter reference Pr131 130 This counter beyond visualizing the sum given from the references can be employed in order to supply to Encoder CAN marks them whose increments are generate to you from a single generator without to influence on the reference of position of the axis being generated therefore a commanded virtual axis through the qualified reference When the selected table 1s changed the two generators will have a different behavior Based on the executed command immediately activates the execution of the selected table as well as a change of module The selection of engage disengage of the CAMI happens in correspondence of the master phases The b180 9 beyond signaling the state of engage disengage of the it allows an engage disengage immediate of the same without to consider the master phase Modules with negative sign cannot be set in CAMI 98 Parker Hannifin Manufacturing Srl user s manual TPDM will be engaged and disengaged only by command and always when the master is in phase 0 or by a single execution command Single Shoot b180 12 beyond signaling the state of engage disengage of the 2 it allows an engage disengage immediate of the same without to consider the master phase The user will have to check the synchronization of
194. tatusword consist of bits for the current state of the drive the operating state of the mode and manufacturer specific options OBJECT DESCRIPTION INDEX 604 1h Object Code Data Type UNSIGNEDIO ENTRY DESCRIPTION PDO Mapping Value Range UNSIGNED16 Default Value 141 Parker Hannifin Manufacturing Srl user s manual TPDM Bit _ Description Fault Voltageenabled Switchondisabled 7 Manufacturer specific O Remote M 10 Target reached 12 13 Operation mode specific 14 15 Manufacturer specific O BITS 0 3 5 AND 6 The following bits indicate the status of the device Fault reaction active Table 7 Device state bits x irrelevant for this state BIT 4 VOLTAGE ENABLED High voltage is applied to the drive when this bit is set to 1 BIT 5 QUICK STOP When reset this bit indicates that the drive 1s reacting on a quick stop request Bits 0 1 and 2 of statusword must be set to 1 to indicate that the drive 15 capable to regenerate The setting of the other bits indicates the status of the drive e g the drive 15 performing a quick stop as result of a reaction to a non fatal fault The fault bit is set as well as bits 1 and 2 BIT 7 WARNING A drive warning 15 present if bit 7 1s set The cause means no error but a state that has to be mentioned
195. the new cam A module with negative sign can be set in 2 Pr185 184 With b180 8 0 command the variation table and module is calculated immediately without the engage disengage commands of the cam If the b180 8 1 command the table and the module set up in CAM2 are updated through an engage command b180 10 or b180 13 single shot The user will have to check the continuity of speed and ramp during table and module changes and especially during the engage phase immediate As a default configuration the cams are scanned throughout the master module In both masters the selected cams can be scaled in a sector of the master module by programming the starting point and the space in which the cam shall be executed It is possible of course to scan the cam in this way also between two master modules 99 Parker Hannifin Manufacturing Srl Example 1 3000 2500 2000 1500 1000 500 0 500 Speed rpm 1000 1500 2000 Example 2 5000 4000 3000 2000 1000 0 1000 Speed rpm 2000 3000 4000 5000 6000 Master module count 8000 user s manual TPDM Scale CAMI Pr115 114210000 module Pr177 176 00 start point Pr179 178 10000 execution space Scale CAM2 Pr185 184 10000 module Pr177 176 0 start point Pr179 178 10000 execution space Scale status of the OPM11 default of cam Scale CAMI Pr115 114210000 module Pr177 176 6500 start point
196. the 6 144ms start up of the drive into the object 0x2066 according to the lo sical internal of the drive or by to the external control b251 7 Brake logical O the firmware of the drive commands the output to insert or release the motor brake 1 the function is management by external control in this status is preserved the compatibility of the previous systems 117 Parker Hannifin Manufacturing Srl user s manual TPDM 9 6 13 Encoder CAN If this function 1s enable it 15 possible to generate and receive the encoder like signals the CAN line which replaces quadrature signal The running is transparent respect to the traditional encoder signals the CAN line must be connected instead of quadrature signals and must be considered that every encoder signal 15 available every 1 024msec over the CAN and the signal has 4byte for data It 15 possible to have up to a maximum of three encoder signals if the speed of the CAN 15 IMbs and only one encoder signal if the speed is 500kbs TPDM drive needs some bit and parameters about the correct operation b70 8 enable the encoder CAN function it activates at the successive switching on after save the setting of the bit m b70 9 selects the counter by CAN or encoder input for the OPM b70 10 enable the encoder CAN virtual through the parameter pointed from Pr158 Pr154 reduction ratio numerator of the input encoder counting by CAN Pr155 reduction ratio de
197. the max continuous module current is clamped to 16A 16 Parker Hannifin Manufacturing Srl user s manual TPDM 3 6 Other characteristics Max frequency encoder input kHz 2000 Max frequency kHz 2000 4 input impedance Input High voltage range Input Low voltage range Type of driving required Reaction time External supply 5 24 10 Output High voltage range gt Vsuppty 1 Output Low voltage range lt l Max current for single output 100 Max current overload Short circuit 500 1500 pull down internal 20 rise time lt 200 rise time with 50mA load lt 20 voltage 10 CMR gt 80 resolution 10 input impedance 8 61kQ 5 max frequency 2000 voltage max current resolution Overload Short circuit protection 17 Parker Hannifin Manufacturing Srl user s manual TPDM 3 Main software features The following functions have been implemented in the basic software Speed controller Advanced manager of torque limits Management of speed windows Torque motor control Torque control with speed control overlaying Positioning with trapezoidal Speed profiles Provides the functions of an electrical shaft with variable ratio and phase correction Electronic cam Simulates a stepper motor It is provided with an internal PLC for programming inputs outputs Serial interface RS485 integrated CAN bus interface 18 Parker Hannifin Manufacturing Srl user s manual TPDM 4 MOUNTING e The conve
198. tion may exceed 3 5 mA AC 10 DC e Earth connection must be permanent use copper wire having a minimum size of 10mm throughout all the length or two cables with the same section as power supply cables e Before switching the equipment on make sure that all devices including the motor are permanently connected to earth even for brief test or measurements as shown in the wiring diagrams Otherwise high voltages may appear on equipment conductive surfaces with danger of electrical shock Always refer to current local regulations for grounding For installation within European Community refer to EN61800 5 1 product standard section 4 2 5 4 2 For installation in USA refer to NEC National Electric Code and NEMA National Electric Manufacturers Association The product installation should always comply with the above said standards Hot surfaces Danger of injury Danger of burns e Some external surfaces of the equipment and same internal part may reach very high temperatures Danger of burn and injury if touching these parts e After switching the equipment wait at least 15 minutes to allow it to cool before touching it Parker Hannifin Manufacturing Srl user s manual TPDM A DANGER Dangerous movements Danger of life Dangerous movements can be caused by faulty control of the connected motor Same common examples are O Improper or wrong installation and wiring O Wrong input parameters before or
199. tive BIT 12 AND 13 These bits are operation mode specific The description 1s situated 1n the chapter of the special mode The following table gives an overview Operation mode pp pv tq hm ip Set point Homing ip mode Table 8 Mode specific bits in the statusword BIT 14 AND 15 These bits may be used by a drive manufacturer to implement any manufacturer specific functionality 12 1 2 3 Object 605 Shutdown option code The parameter shutdown option code determines what action should be taken if there is a transition OPERATION ENABLE gt READY TO SWITCH ON 143 Parker Hannifin Manufacturing Srl user s manual TPDM OBJECT DESCRIPTION INDEX 605Bh Shutdown option code Object Code Data Type INTEGER 16 ENTRY DESCRIPTION Default Value 0 DATA DESCRIPTION 0 Disable drive function 00 Slow down with slow down ramp disable of the drive function 2 32767 12 1 2 4 Object 605 Disable operation option code The parameter disable operation option code determines what action should be taken if there is a transition OPERATION ENABLE gt SWITCHED ON OBJECT DESCRIPTION 605Ch INTEGER 16 ENTRY DESCRIPTION PDO Mappin Value Range INTEGERIO rw ing Default Value 1 DATA DESCRIPTION 32768 1 Disable drive function Slow down with slow down ramp and then disabling of the drive function 2 32767 144 Parker Hannifin Manufacturing Srl user
200. to 14 Homing on the home switch and index pulse 156 12050 00 Reserved E aide 157 12 1 8 1 7 Methods 17 to 30 Homing without an index 158 12 158 12 1 8 1 9 Methods 33 to 34 Homing on index gt 158 12 1 8 1 10 Method 35 Homing on the 158 12 1 9 Profile position mode operative mode 201 159 159 12 1 9 1 1 Controbword of profile position mode ea toon rre too Ta I 159 12 1 9 1 2 Statusword of profile position 159 6522 ees achace quoto ded me le beoe Gu adenine as esi vun iud 160 12 12 21 Objects defimed chapter cocci eir tod Po tris ens 160 12 19 22 ObJect o0 TADC position rss deco oo eee t d beso E 160 12 19 2 5 Object o0s Is Pronlevelo6tly esee durus a 161 12 1 9 2 4 Object 6083h Profile acceleration deceleration 161 12 1 9 2 5 Object 6085h Quick stop 162 12 09 26 Object
201. ts sec o RPM depending on unit selection standard or not with b272 1 0 6083 profile acceleration acceleration of profile in profile position mode in counts sec 2 ms kKRPM depending on unit selection standard or not with b272 1 0x6084 profile deceleration deceleration of profile in profile position mode in counts sec 2 or ms kRPM depending on unit selection standard or not with b272 1 Ox6085 quick stop deceleration deceleration in quick stop action Ox6086 Motion profile type valid values 0 0 6093 1 Position factor Numerator position factor 0x6093 2 Position factor Denominator position factor 0x6094 1 Velocity encoder factor Numerator velocity factor 10 60941 2 Velocity encoder factor Denominator velocity factor 0x6097 1 Acceleration factor Numerator acceleration factor 0x6097 2 Acceleration factor Denominator acceleration factor 0 6098 Homing method all standard values available 0 6099 1 Homing speeds searching sensor velocity in counts sec or RPM depending unit selection standard or not with b272 1 0 6099 2 Homing speeds searching index velocity in counts sec or RPM depending on unit selection standard or not with b272 1 Ox609a Homing acceleration acceleration homing in counts sec 2 ms KRPM depending on unit selection standard or not with b272 1 Ox60b8 Touch Probe function this object
202. ty instructions for maintenance eee eee ee eee eee eee ee eee eese eee s eate ee eese ee eese eese ee eee ee 10 1 7 Compatibility with 10 1 8 Applicable StaHdaEds yo Nee esee e 11 1 9 Materials ANG GISP OS Al 11 1 10 NV UI RET E S E 11 2 INTRODUCTION a we Us ease t vuU edv PU NUN ED VI UR UN UU PEE 12 2 1 dise 12 2 2 12 2 3 E EAEE 13 3 MAIN HARDWARE FEATURES 15 3 1 E E E LT 15 3 2 Vibrations and 15 3 3 5 55 OPE eMe det YES a 15 3 4 OW Ole E Qt E ERI ER v Ha is 16 3 5 Technical elarEacteristI6S i iio eee to ka E a Pepe Ee eus ESI EN SERE EE aa Loos 16 3 6 Other cDaracterisucS gt beso 17 3 7 Main software features escsecccccececcsececcceceoccececccececcsececccccecccececccececcsececcsececcsececsscceosssceosse 18 4 MOUNTING a 19 4 1 How to suppress interference sssssssssssscececcccccccsosssssssssecccccccecosssssssssssssseeceeceeesossosssssssee 19 GITE 19 4 1 2 Cable connections and 20 1 5 Gen
203. ty mode Operation mode VA function 7 gt Velocity mode n a Profile torque mode Modes of operation display 6061h 147 Parker Hannifin Manufacturing Srl user s manual TPDM 12 1 4 Homing mode operative mode 200 homing mode 31 200 all the standard methods are available the index 15 referred to the feedback C encoder input track Z it 1s also possible to refer the index to the absolute in the shaft revolution position of zero of the position feedback resolver SinCos absolute etc setting the homing method to the same absolute value as for track Z indexing but negative In this case the presetting of the position counters on the index is completed without axis movement For homing procedures 3 predefined bit are use 691 4 Right limit switch b91 5 Left limit switch b91 6 home switch The active level of the 3 bit can be inverted by mean of a bit mask mapped at index 0x2021 as U16 where bit4 5 6 are processed by a operation with the logical status of b91 4 91 5 and 91 6 by pico PLC Note in this mode the firmware manages b40 2 b40 6 Pr8 Pr9 10 Pr11 Pr12 and Pr55 12 1 5 General information This chapter describes the method by which a drive seeks the home position also called the datum reference point or zero point There are various methods of achieving this using limit switches at the ends of travel or a home switch zero point switch in
204. uted only if the stack bit 15 equal to 1 A mathematical operation can be executed by placing the result in one of the constant parameters Pr71 Pr79 in order to set bit b99 2 and b99 3 If the DIV operation is executed on a double word the most significant part of the result contains the remainder of the division that 15 b94 0 1 and the operation DIV 79 77 80 is executed the result will be Pr80 4 and Pr81 96 The FIN instruction Two instructions are available for the fast acquisition of inputs in this case the scanning occurs at the rate of 512 5 normal scanning is at the rate of 6 144ms If this 1 used they must be the first instructions of the PLC The first instruction FIN copies digital input to the y bit of Pb40 parameter the second operand 0 or Pb150 second operand 1 The second FIN copies digital input to the y bit of the Pb40 parameter second operand 0 or Pb150 second operand 1 If the value 2 is added to the second operand the input must be negated before being copied If an FIN instruction is inserted in a different position it will not have any effect The FIN instructions can be enabled disabled using bit for each FIN the first FIN is enabled if 694 5 0 the second FIN is enabled if b94 6 0 The FIN instruction inserted the PLC program after the first two instructions and in any case if it follows any instruction that 1s not a FIN instruction is ignored The user can make use of two time
205. vailable Node guarding and heartbeat the two cannot exist in the same time Heartbeat 16 activated when a producer heartbeat time is set different from O Three PDO channels PDO 1 2 4 from the predefined standard connection set are available PDO 1 and 2 are serviced by a cyclic routine executed every 2 048 msec and they are remappable elements of 2 or 4 bytes can be mapped the RTR is allowed event time and inhibit time are active they can handle synchronous requests serviced every 2 048 msec or they can be handled as event driven PDO 4 15 the PDO channel used for strictly realtime operation as controlling motor trajectory or position loop the PDO 15 synchronous type 1 is allowed and a restricted set of parameters can be mapped in particular ID to the second axis apply as offset 0x0800 while to the third axis the offset 15 0x1000 PDO to the second axis apply as offset 0x0040 while to the third axis the offset 1s 0x0080 PDO 4 rx 0x6040 control word 0 60 1 1 position reference in counts 0x60c1 2 velocity reference in counts sec Ox60c1 3 velocity reference in rpm PDO 4 tx 0x6041 status word 133 Parker Hannifin Manufacturing Srl user s manual TPDM 0 6063 position feedback in counts 0 6064 position feedback in counts normally in user unit in this case as well in counts 0x2060 Word composed with digital input and aux analog input InO b1 Inl b2 In2 b3 In3 b4 b15 Analog input aux
206. ves and filters are fixed The safety ground or PE protective earth according to the EN60204 1 standard Fix drive and mains filters the 24Vdc power supply etc on the metal wall making sure that there is a proper electric contact HF connection Carry the safety ground using cables having a minimum section of 10mm 19 Parker Hannifin Manufacturing Srl user s manual TPDM 4 1 2 Cable connections and shielding With the exception of mains cables to the filter all power and control cables must be shielded and wherever possible kept segregated minimum distance 20 cm If control and power cables must cross the intersection must be at a right angle The shielded cables must be unbroken and grounded to a copper bar using the cable clamps connections as shown in the drawing at 360 order to obtain a good conductivity 360 shield connection Generally the shield should be connected to each extremity In certain circumstances however control cable shields may be connected only to one end to eliminate mains hum that could interfere with the control signal Decide case by case as numerous factors must be considered Adopt the following general approach if the screen is solely for shielding connect to both ends If current flowing in the shield interferes with the shielded signals connect to one end only The incoming cable must be connected to an earth terminal trough a screw to ensure proper contact between screen and

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