Parker FL-20-C Series Bedienungsanleitung

FL20-C Series

FOREWORD

Thanks for your selection of the servo drive. Meanwhile, please enjoy the comprehensive and

sincere service from our technical teams.

The user manual is used for providing the instructions of installation and debugging,

operation and use, fault diagnosis and attentions of routine maintenance. Please read this

manual carefully before installing and using. This manual will be supplied together with servo

drive, keep properly for further consulting and use.

If there are any questions in use and user cannot find any solutions in this manual, please

contact and consult with our company or distributors directly. Our professional technique

service team will offer the dedicated service to you. We are looking forward to your valuable

comment and suggestion.

Our company is committed to the improvement of products and function upgrade. The

content of user manual could be amended at any time without prior notice. The latest and

detailed user manual will be launched in corporate website.

Unpacking Inspection:

Please check as below carefully when unpacking:

Item to check

Description

Check if arrived goods are in complete

accord with the ordered product model?

Box contains ordered goods, user manual of

FL20 and accessories of servo drive.

Please use nameplates of servo drive and motor

to confirm.

Check if there is any damage of product?

Check the appearance of machine to see if there

is any damage during the transportation.

Please contact with our company or distributor

in time to solve if any damage or lost.

Check if the rotation axis of servo motor

running smoothly?

It is normal if the axis can be rotated gently by

hand, except for servo motor with brake.

FL20-C Series

SAFETY SIGNS

The safety operation of the product depends on the correct installation and operation and

proper maintenance. Make sure to comply with the below safety signs in user manual:

Incorrect operation could trigger hazardous conditions, which may result

in personnel injury and death.

Incorrect operation could trigger hazardous conditions, which may result

in moderate to minor personnel injury, or device damage.

In addition, matters mentioned in this sign may result in severe

consequence sometimes.

The significance of identifier in the drive case as below:

High voltage, electrical shock hazard.

Heat surface, do not touch.

IEC STANDARD

IEC/EN 61800-5-1: 2007 Adjustable speed electrical power drive systems safety requirements.

IEC/EN 61800-3: 2004/ +A1: 2012 Adjustable speed electrical power drive system. Part 3:

EMC product standard including specific test methods.

Attention: Please connect electronic transformer sequence correctly, or may

lead to danger.

Electronic transformer wiring diagram

L1 L2 L3 N (Zero line)

Note: N terminal must be connected to zero line.

INPUT

R S T

OUTPUT

220VServo drive

L1C

L2C

380V 220V

Danger

Caution

Danger

FL20-C Series

NOTICE FOR USE:

Basic Terms

The user manual, unless special instructions, is used by the proper technical terms as below:

Servo drive: to drive and control servo motor.

Servo system: servo control system, which consist of servo drive, servo motor, instruction

control unit and peripheral devices.

User parameter: monitor or set the parameters related to servo drive, dividing into

monitoring parameter and setting parameter.

Monitoring parameter: read only, cannot modify.

Setting parameter: can be read and modified. Based on the function, it can

be divided into function parameter and data parameter.

EtherCAT

Common Term

Definition

CiA

CAN in Automation

CoE

CANopen over EtherCAT

Distribute Clock: make all slave stations receive the same time

ECAT

Short for EtherCAT

ESC

EtherCAT Slave Controller

ESM

EtherCAT state machine

ETG

EtherCAT technology group

EtherCAT

Real-time industrial Ethernet standard

Object dictionary

INIT

EtherCAT state machine：Initialization state

PREOP

EtherCAT state machine：Pre-operation state

SAFEOP

EtherCAT state machine：Safe operation state

EtherCAT state machine：Operation state

SyncManager

Synchronous manager: control the access of application storage area

SDO

Service data object

PDO

Process data object

TXPDO

Transmit process data

RXPDO

Receive process data

APRD

Auto-increment physical read: Read slave storage area selected from the

salve position in network segment.

APWR

Auto-increment physical write: Write slave storage area selected from the

slave position in network segment.

APRW

Auto-increment physical read-write single slave

ARMW

Auto-increment physical multiple read-write slaves

BRD

Broadcast read: read the physical storage area of all network slaves.

FMMU

Fieldbus Memory Management Unit

LRD

Read single or multiple salve storage area selected from logic address.

LWR

Write data to slave area select from logic address.

LRW

Read or write data to the slave storage area selected from logic address.

FL20-C Series

Common Symbol

This manual is used symbols as below for convenient representation.

1. Mode description

PP：Profile Position mode

ALL：All modes

CSP：Cycle Sync. Position mode

PV：Profile Velocity mode

CSV：Cycle Sync. Velocity mode

PT：Profile Toque mode

CST：Cycle Sync. Torque mode

HM：Homing mode

2. Use of backslash (/)

Backslash is used in wiring circuit diagram, which is descripted for default logic of IO port.

For input signal, with backslash means that the input signal is enabled when input side on, so

default logic is positive logic; without backslash means that the input signal is enabled when

input side is off, so default logic is negative logic.

For output signal, with backslash means that the output side is always off, it is on only when

signal outputs; without backslash means that the output side is always on, it is off only when

signal outputs.

3. Others

NC: Not connected; N/A: No unit

XML File Configuration Instruction:

1. Please use proper “.XML” file to configure or install on the EtherCAT master before using

FL20-C series servo slave to connect to the EtherCAT master.

2. The version of “.XML” file can be identified by servo parameter So-60 (Index 2008h-3Dh).

The “.XML” file can be read from servo slave and configured to master by operating

EtherCAT master. User also can ask the related personnel for the XML file.

Parameter entry-into-effect time

1. The entry-into-effect time of below parameters is 1000ms, which means that the

parameter will take 1000ms to take into effect after setting the parameter. These

parameters are Po500, Po501, Po503, Po504, Po506, So-20, So-21, So-22, So-24, and

So-62.

2. Excluding the parameters above, the entry-into-effect time of the rest FL20-C servo

parameters is 100ms.

FL20-C Series 

 
FOREWORD.................................................................................................................................... 1 
I. USER REMINDER .................................................................................................................. 10 
1 SAFETY PRECAUTIONS ........................................................................................................ 10 
2 STORAGE AND TRANSPORTATION .......................................................................................... 11 
3 INSTALLATION .................................................................................................................. 11 
4 WIRING.......................................................................................................................... 12 
5 MAINTENANCE AND INSPECTION .......................................................................................... 12 
II. PRODUCT INFORMATION ..................................................................................................... 13 
1 SERVO DRIVE INTRODUCTION............................................................................................... 13 
2 SERVO MOTOR INTRODUCTION............................................................................................. 19 
3 COMBINATION OF SERVO DRIVE AND SERVO MOTOR.................................................................. 24 
III. INSTALLATION .................................................................................................................. 28 
1 SERVO DRIVE INSTALLATION................................................................................................. 28 
2 INSTALLATION OF SERVO MOTOR .......................................................................................... 34 
IV. WIRING ............................................................................................................................ 42 
1 MAIN CIRCUIT WIRING ....................................................................................................... 44 
2 ENCODER WIRING ............................................................................................................. 51 
3 INPUT/OUTPUT SIGNAL WIRING............................................................................................ 55 
4 WIRING FOR SERVO DRIVE AND SERVO MOTOR......................................................................... 69 
V. KEYPAD OPERATION AND PARAMETERS............................................................................... 74 
1 KEYPAD OPERATION........................................................................................................... 74 
2 PANEL DISPLAY................................................................................................................. 75 
3 KEYPAD OPERATING PROCEDURE.......................................................................................... 78 
VI. COMMUNICATION FUNCTION INTRODUCTION ................................................................ 82 
1 ETHERCAT COMMUNICATION.............................................................................................. 82 
2 MODBUS COMMUNICATION ............................................................................................. 96 
3 INTRODUCTION OF COMMON BUS CONTROL MODE ................................................................. 104 
VII. CONTROL MODE ............................................................................................................ 106 
1 BEFORE RUNNING ............................................................................................................... 109 

FL20-C Series 

 
1.1 WIRING CHECKING ........................................................................................................... 109 
1.2 POWER ON..................................................................................................................... 109 
1.3 PARAMETERS SETTING....................................................................................................... 110 
1.4 SETTING THE OVERTRAVEL LIMIT FUNCTION........................................................................... 114 
1.5 JOG OPERATION PROCEDURE .............................................................................................. 117 
1.6 SEQUENCE CONTROL......................................................................................................... 119 
1.7 SETTING THE BRAKING ...................................................................................................... 121 
1.8 SETTING ELECTRONIC GEAR................................................................................................. 126 
1.9 POSITION COMMAND FILTER............................................................................................... 129 
1.10 POSITION COMMAND INHIBIT FUNCTION................................................................................ 129 
1.11 COMMAND PULSE CLEAR FUNCTION...................................................................................... 130 
1.12 FREQUENCY-DIVISION OUTPUT FUNCTION .............................................................................. 130 
2 SERVO STATUS SETTING ...................................................................................................... 135 
2.1 CONTROL WORD 6040H...................................................................................................... 138 
2.2 STATUS WORD 6041H......................................................................................................... 139 
3 PROFILE POSITION MODE（PP）.......................................................................................... 140 
3.1 RELATED OBJECTS ............................................................................................................... 140 
3.2 RELATED FUNCTIONS ........................................................................................................... 142 
3.3PATH GENERATOR............................................................................................................... 142 
3.4 RECOMMENDED CONFIGURATION........................................................................................... 145 
4 PROFILE VELOCITY MODE（PV）.......................................................................................... 145 
4.1 RELATED OBJECTS ............................................................................................................... 145 
4.2 RELATED FUNCTIONS ........................................................................................................... 147 
4.3 RECOMMENDED CONFIGURATION........................................................................................... 147 
5 PROFILE TORQUE MODE (PT)................................................................................................. 147 
5.1 RELATED OBJECTS ............................................................................................................... 148
5.2 RELATED FUNCTIONS ........................................................................................................... 149 
5.3 RECOMMENDED CONFIGURATION........................................................................................... 149 
6 CYCLIC SYNCHRONOUS POSITION MODE (CSP) ......................................................................... 150 
6.1 RELATED OBJECT................................................................................................................. 151 
6.2 RELATED FUNCTION............................................................................................................. 152 
6.3 RECOMMENDED CONFIGURATION........................................................................................... 153 
7 CYCLIC SYNCHRONOUS VELOCITY MODE（CSV）..................................................................... 153 
7.1 RELATED OBJECTS ............................................................................................................... 153 

FL20-C Series 

 
7.2 RELATED FUNCTIONS ........................................................................................................... 155 
7.3 RECOMMENDED CONFIGURATION........................................................................................... 155 
8 CYCLIC SYNCHRONOUS TORQUE MODE（CST）....................................................................... 155 
8.1 RELATED OBJECTS ............................................................................................................... 155 
8.2 RELATED FUNCTIONS ........................................................................................................... 156 
8.3RECOMMENDED CONFIGURATION........................................................................................... 157 
9 HOMING MODE (HM)............................................................................................................ 157 
9.1 RELATED OBJECTS ............................................................................................................... 157 
9.2 RELATED FUNCTIONS ........................................................................................................... 159 
9.3 HOMING OPERATION........................................................................................................... 159 
10 AUXILIARY FUNCTION .......................................................................................................... 200 
VIII. OBJECT DICTIONARY AND PARAMETER LIST........................................................................ 211 
1 OBJECT DICTIONARY CLASSIFICATION.......................................................................................... 211 
2 COMMUNICATION PARAMETER (1000H~1FFFH) ......................................................................... 212 
3 MANUFACTURER DEFINED PARAMETERS........................................................................ 2125 
4 PARAMETERS DEFINED BY SUB-PROTOCOL (6000H)....................................................................... 265 
IX ADJUSTMENTS ....................................................................................................................... 277 
1 SUMMARY........................................................................................................................... 277 
2 INERTIA IDENTIFICATION ......................................................................................................... 278 
2.1 OFFLINE IDENTIFICATION...................................................................................................... 278 
2.2 ONLINE INERTIA IDENTIFICATION............................................................................................ 281 
3 GAIN ADJUSTMENT ............................................................................................................... 282 
3.1 SUMMARY........................................................................................................................ 282 
3.2 AUTOMATIC GAIN ADJUSTMENT ............................................................................................ 283 
3.3 MANUAL GAIN ADJUSTMENT................................................................................................ 284 
3.4 GAIN SWITCHOVER ............................................................................................................. 288 
4 VIBRATION SUPPRESSION........................................................................................................ 290 
4.1 VIBRATION SUPPRESSION FUNCTION....................................................................................... 290 
X. MAINTENANCE AND INSPECTION........................................................................................... 293 
1 ALARM AND TROUBLE SHOOTING AT START................................................................................ 293 
1.1 POSITION CONTROL MODE.................................................................................................. 293 
2 ALARM CODE AND POSSIBLE CAUSE.......................................................................................... 294 

FL20-C Series 

 
3 ALARM CODE AND TROUBLE SHOOTING.................................................................................... 296 
XI APPENDIX .............................................................................................................................. 302 
1 ENCODER CABLE SELECTION ................................................................................................... 302 
1.1 ABSOLUTE ENCODER CABLE................................................................................................. 302 
1.2 INCREMENTAL ENCODER CABLE ............................................................................................ 303 
1.3 RESOLVER ENCODER CABLE ................................................................................................. 304 
2 CONTROL CABLE.................................................................................................................. 304 
3 POWER CABLE .................................................................................................................... 304 
4 SHIELDED NETWORK CABLE .................................................................................................... 305 
5 OTHER CABLE ..................................................................................................................... 306 
6 MOTOR AND MATCHED CABLE ................................................................................................ 307

FL20-C Series

I. User Reminder

1.1 Safety Precautions

Important matters that users must abide by are explained in the chapter, which relates to

product confirm, storage, transportation, installation, wiring, operation, inspection, disposal,

and so on.

After the power off for at least 5 min and the power light is off, using multimeter to check the

voltage between B1 and N+ firstly, then the drive can be disassembled and installed. Otherwise,

residual voltage may cause electric shock.

Never touch the inside of servo drive, or electric shock may occur.

Process insulating treatment for the connecting part of power terminal.

The GND terminal of servo drive must be grounded, or electric shock may occur.

Do not damage or hard pull the cables, or make the cable bear overweight, otherwise, the inside

cable may be damaged or electric shock may occur, which also may cause the damage of the

product.

Unless the designated professional personnel. Do not disassemble or repair the drive oneself, or

electric shock may occur.

Follow the procedures required in user manual to test running.

In the connection status of servo motor and machinery, wrong operation may cause the damage

of machinery, sometimes even human injury occurs, so operate discreetly.

Except for special purpose, do not modify max speed value (Po002). Or machinery may

damage or human injury occurs.

Within a period time after power on and off, do not touch cooling fin, external braking unit, and

servo motor, because the temperature could be very high, which may cause scald.

Never touch the rotating part when servo motor running.

Put servo motor in the status that can be emergency stop anytime when running installed with

the matched machinery.

For safety purpose, install the emergency stop device in the machinery side.

The brake of servo motor is not used to make sure the safe stop device. Damage of equipment

may occur without installing stop device.

If momentary power loss then power recovers during the running process, unexpected restart of

machinery may occur, press emergency stop key when power off, and then proceed to operate

until the power supplies stably, meanwhile, do not close to the machinery to avoid hazard.

Take appropriate measures to ensure safety against an unexpected restart.

Do not modify products. Failure to observe this warning may result in personal injury and

damage to products.

Install servo drive, servo motor and external braking unit on the noncombustible.

MCTT (electromagnetic contactor) and NFB(no fuse breaker) must be installed between main

circuit power (L1,L3 for 1-phase, L1/R, L2/S, L3/T for 3-phase)。

Do not leave flammable foreign object such as oil, grease and conductive matter such as screw,

sheet metal, or may result in fire risk.

Danger

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