Name: Parker PD-04 Series
Brand: Parker
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Parker Hannifin

P series User Guide 97

5. Tuning

IN THIS CHAPTER

5.1 Servo Tuning Overview

5.2 Position Variable Overview

5.2.1 Commanded Position

5.2.2 Actual Position

5.3 Servo Response Overview

5.3.1 Stability

5.3.2 Position Response Types

5.3.3 Performance Measurements

5.4 Automatic Gain Tuning

5.4.1 Related Objects

5.5 Manual Gain Tuning

5.5.1 Speed Controller Tuning

5.5.2 Position Controller Tuning

5.6 Vibration Control

5.7 Filters

5.7.1 Related Objects

5.7.2 Adaptive Filter

5.7.3 Related Objects

5.8 Analog Monitor

5.8.1 Related Objects

5.8.2 Analog monitor output mode(0x2220) setting

5.8.3 Analog monitor channel 1 setting (0x2221)

5.8.4 Setting Example

5.9 Gain Conversion

5.9.1 Gain Group Conversion

5.9.2 P/PI Control Conversion

Table of Contents3
Table of Figures8
Important User Information15
Change Summary16
Introduction17
P Series Products Overview18
P Series Features18
PD Drive Names18
Input Power18
Figure 1. PD Drive Names18
Front Panel Description of Representative Drives19
Figure 2. 400W Drive Front Description19
Table 1. Output Power Level19
PM Motor Names20
Figure 3. 1000W Drive Front Description20
Figure 4. 3500W Drive Front Description20
Options21
Compatible Parker Product21
Figure 5. PM Motor Names21
Assumptions of Technical Experience22
Technical Support22
Mechanical Installation23
Environment24
Table 2. Drive Installation Environment24
Dimensions25
PD Drive Dimensions (PD-01Xx to PD-35Xx)25
Figure 6. PD Drive Dimensions25
Table 3. PD Drive Dimensions25
PM Motor Dimensions (FAL Series)26
Figure 7. PM-FAL Series Motor Dimension26
Table 4. PM-FAL Series Motor Dimension26
PM Motor Dimensions (FBL Series)27
Figure 8. PM-FBL Series Motor Dimension27
Table 5. PM-FBL Series Motor Dimension27
PM Motor Dimensions (FCL Series)28
Figure 9. PM-FCL Series Motor Dimension28
Table 6. PM-FCL Series Motor Dimension28
PM Motor Dimensions (FE Series)29
Figure 10. PM-FE Series Motor Dimension29
Table 7. PM-FE Series Motor Dimension29
PM Motor Dimensions (FF Series)30
Figure 11. PM-FF Series Motor Dimension30
Table 8. PM-FF Series Motor Dimension30
Weight31
Mounting Guidelines31
Cable Routing31
Panel Mounting31
Table 9. PD Drive Weight31
Figure 12. PD-04P Mounting Information32
Figure 13. PD-10P Mounting Information32
Preventing Excessive Impact33
Combining with Load Device33
Figure 14. PD-35P Mounting Information33
Pulley Combining34
Table 10. Pulley Combining Information34
Electrical Installation35
Installation Safety Requirements36
Precautions36
Auto-Configuration for Encoders36
System Installation Overview36
Power Supply37
Power Circuit Electronics Specification37
Figure 15. System Installation Overview37
Table 11. Power Circuit Electronics Specification37
Multiple Drive Installations38
Drive Node Address Setting38
Table 12. Drive Node Address Setting38
Terminating Resistance Setting39
Brake Relay (Optional)39
Dynamic Brake39
Signal Output Function Setting40
Figure 16. Dynamic Brake Sequence40
Table 13. Dynamic Brake Related Objects40
Regeneration Protection41
Table 14. Regeneration Related Objects41
Table 15. Internal Resistor Setting42
External Resistor Setting44
Other Consideration45
Table 16. External Regeneration Resistor Setting45
Drive Status Indicators46
PD Drive Alarm Code List47
Table 17. PD Drive Alarm Code List47
PD Drive Warning Code List48
Connector Descriptions48
Table 18. PD Drive Warning Code List48
Installation Test50
Testing the PD Drive50
Drive Blocks51
Figure 17. PD Drive Block Diagram51
Wiring52
Power52
Figure 18. Drive Wiring Example52
Feedback Signal54
I/O Signal Wiring58
Figure 19. Example of Digital Input Signal Wiring59
Figure 20. Example of Digital Output Signal Wiring60
Figure 21. Example of Analog Input Signal Wiring60
Pulse Heat Signal61
Figure 22. Example of Analog Output Signal Wiring61
Figure 23. Example of Pulse Heat Signal Wiring61
Figure 24. Example of Open Collector Pulse Input Signal Wiring62
Figure 25. Example of NPN Open Collector Pulse Command Wiring62
Communications and I/O63
Overview64
Communication64
Figure 26. RS-422 Multi-Drop Connection Example64
Terminal Configuration65
Establishing Communication65
Table 19. RS-422 Terminal Specification65
Packet Structure66
Table 20. RS-422 Connector Pin Description66
Table 21. RS-422 Transmission Packet Structure66
Table 22. RS-422 Reception Packet Structure67
Table 23. Protocol Packet Code Description67
Protocol Command Code Description68
Table 24. Exception Code Description68
Table 25. Read Holding Register68
Table 26. Example of Reading Single Parameter69
Table 27. Example of Reading Multiple Parameters69
Table 28. Read Input Signal70
Table 29. Example of Reading Drive Status70
Table 30. Write Single Register71
Table 31. Example of Write Single Register71
Table 32.Write Multi Register71
Communication Address Table72
System Configuration Parameters72
Table 33. Example of Writing Multiple Parameters72
Control Parameters73
Table 34. System Configuration Parameters73
I/O Parameters74
Table 35. Control Parameters74
Speed Operation Parameters75
Table 36. I/O Parameters75
Miscellaneous Parameters76
Table 37. Speed Operation Parameters76
Advanced Control Parameters77
Monitoring Parameters77
Table 38. Miscellaneous Parameters77
Table 39. Advanced Control Parameters77
Procedures and Alarm History78
Rd Party Motor Parameters78
Table 40. Monitoring Parameters78
Table 41. Procedures and Alarm History78
Cia402 Parameters79
Table 42. 3 Rd Party Motor Parameters79
Table 43. Cia402 Parameters80
Index Related Parameters81
Index00~63 Internal Variable Communication Address82
Table 44. Index Related Parameters82
Table 45. Index Variable Communication Address82
Table 46. Example of Internal Variable of Index0082
I/O83
Digital I/O83
Table 47. Digital Input Signal Description84
Analog I/O85
Table 48. Digital Output Signal Description85
Pulse Heat Input86
Table 49. Analog Input Signal Description86
Table 50. Analog Output Signal Description86
Table 51. Pulse Train Input Signal Description86
Encoder Output87
Table 52. Encoder Output Signal Description87
I/O Signal Setting88
Allocating Digital Input Signals88
Table 53. Encoder Output Signal of Open Collector Method88
Table 54. Encoder Output Related Objects88
Figure 27. Allocating Digital Input Signals89
Table 55. Allocating Digital Input Related Objects90
Allocating Digital Output Signals91
Table 56. Example of Signal Input Allocation91
Figure 28. Allocating Digital Output Signals92
Table 57. Allocating Digital Output Related Objects93
Using User I/O94
Table 58. Example of Signal Output Allocation94
Table 59. User Input Related Objects96
Table 60. User Output Related Objects98
Table 61. Physical Output Descriptions98
Table 62. Bit Mask Descriptions98
Tuning99
Servo Tuning Overview100
Position Variable Overview100
Commanded Position100
Figure 29. Commanded Position100
Actual Position101
Servo Response Overview101
Stability101
Position Response Types101
Performance Measurements102
Automatic Gain Tuning102
Figure 30. Position Response Types102
Related Objects103
Figure 31. Control Loop Block Diagram103
Table 63. Auto Tuning Related Objects103
Manual Gain Tuning104
Speed Controller Tuning104
Position Controller Tuning104
Vibration Control105
Filters105
Figure 32. Vibration Control105
Related Objects106
Adaptive Filter106
Figure 33. Meaning of Notch Filter106
Table 64. Notch Filter Related Objects106
Related Objects107
Analog Monitor107
Figure 34. Adaptive Filter Diagram107
Table 65. Adaptive Filter Related Objects107
Related Objects108
Figure 35. Analog Monitor108
Table 66. Analog Monitor Related Objects108
Analog Monitor Output Mode(0X2220) Setting109
Analog Monitor Channel 1 Setting (0X2221)109
Figure 36. Analog Monitor Output Setting109
Setting Example110
Figure 37. Setting Example110
Table 67. Analog Monitor Channel Setting110
Gain Conversion111
Gain Group Conversion111
Table 68. Gain Conversion Description111
P/PI Control Conversion112
Table 69. Gain Conversion Related Objects112
Figure 38. P/PI Control Conversion113
Figure 39. Example of P/PI Conversion114
Table 70. P/PI Control Related Objects114
Command Reference115
Pulse Input Position Operation116
Function Setting of Pulse Input Logic117
Related Objects117
Table 71. Pulse Input Logic Related Objects118
Block Diagram119
Figure 41.Inner Block Diagram under the Pulse Input Position119
Function Setting of Pulse Input Filter120
Function Setting of PCLEAR120
Homing120
Table 72. Pulse Input Filter Related Objects120
Table 73. Function Setting of PCLEAR120
Homing Methods121
Figure 42. Homing Function121
Related Objects122
Table 74. Homing Methods122
Table 75. Homing Related Objects122
Electronic Gear Setting133
Electronic Gear133
Example of Electronic Gear Setting135
Speed Control Setting136
Smooth Acceleration/Deceleration136
Figure 43. Speed Control136
Table 76. Examples of Gear Setting136
Servo Lock Function137
Related Signal137
Figure 44. Smooth Acceleration and Deceleration137
Table 77. Servo Lock Function137
Position Control Setting138
Position Command Filter138
Table 78. Servo Lock Function Related Objects138
Figure 45. Position Command Filter139
Table 79. Position Command Filter Related Objects139
Signals Related with Position Control140
Table 80. Position Control Related Objects140
Limit Setting141
Forward/Reverse Limit Setting141
Table 81. Limit Setting Related Objects141
Brake Output Signal Function Setting142
Figure 46. Brake Output Function142
Torque Limit Setting144
Figure 47. Torque Limit147
Table 82. Torque Limit Related Objects147
Absolute Encoder Data Transmission148
Figure 48. Absolute Encoder Data Sequence148
Touch Probe Function149
Figure 49. Touch Probe Function149
Table 83. Touch Probe Function Related Objects150
Figure 50. Touch Probe Function Timing Diagram151
Procedure152
Procedure Function153
Manual Jog Operation153
Table 84. Procedure Function153
Program Jog Operation154
Figure 51. Program Jog Operation154
Table 85. Procedure Function Related Objects154
Alarm Record Detection155
Table 86. Program Jog Operation Related Objects155
Automatic Gain Tuning156
Index Pulse Probing156
Table 87. Alarm Detection Related Objects156
Absolute Encoder Reset157
Table 88. Index Pulse Probing Related Objects157
Instantaneous Maximum Torque Reset158
Phase Current Offset Tuning158
Table 89. Absolute Encoder Reset Related Objects158
Table 90. Instantaneous Maximum Torque Reset Related Objects158
Software Reset159
Commutation159
Table 91. Phase Current Offset Related Objects159
Table 92. Commutation Related Objects159
Indexer160
Indexer Overview161
Control Methods161
Table 93. Indexing Position Operation Related Objects162
Coordinate Setting164
Figure 53. Internal Blocks of Indexing Position Mode164
Index Structure166
Table 94. Index Structure167
Indexing Position Operation168
Concept of Index168
Absolute and Relative Move173
Registration Absolute and Relative Move174
Blending Absolute and Relative Move175
Rotary Absolute and Relative Move175
Rotary Shortest Move176
Rotary Positive and Negative Move177
Functions of Index Input Signal178
Functions of Index Output Signal181
Analog Speed Override182
Figure 54. Analog Speed Override182
Table 95. Analog Speed Override Related Objects182
Object183
Object Dictionary184
Data Type184
General Objects184
Table 96. Object Dictionary Data Type184
Table 97. Hardware Version185
Table 98. Software Version185
Table 99. Store Parameters186
Table 100. Restore Parameters187
Table 101. Identity Object187
Manufacturer Specific Objects188
Table 102. Encoder Type Object188
Table 103. Encoder Pulse Per Revolution189
Table 104. Touch Probe Functions251
Table 105. Touch Probe Status251
Table 106. Digital Input Status254
Table 107. Physical Output Descriptions255
Table 108. Bit Mask Descriptions255
Table 109. Supported Modes256
Table 110. PM-FAL Series Features258
Table 111. PM-FBL Series Features258
Table 112. PM-Fclxxamxx Series Features259
Table 113. PM-Fclxxdmxx Series Features259
Table 114. PM-Fexxamxx Series Features260
Table 115. PM-Fexxdmxx Series Features260
Table 116. PM-Fexxgmxx Series Features261
Table 117. PM-Fexxmmxx Series Features261
Table 118. PM-Ffxxam/MMXX Series Features262
Table 119. PM-Ffxxdm/Gmxx Series Features262
Figure 55. FAL Series N-T Curves264
Figure 56. FBL Series N-T Curves265
Figure 57. FCL Series N-T Curves267
Figure 58. FE Series N-T Curves273
Figure 59. FF Series N-T Curves275
Table 120. Servo Alarm Check List279
Table 121. Servo Warning Check List280

Brand	Parker
Model	PD-04 Series
Category	Servo Drives
Language	English

Parker PD-04 Series User Manual

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