PAC QuickStart

Parker Automation Controller
Parker Automation Controller

QuickStart
Rev 1.0
Feb 2015
Parker Automation Controller QuickStart
Introduction
This shows step-by-step instructions how to configure and setup a Parker Automation Controller
with a Compax3 EtherCAT servo drive, import a simple program and get motion quickly. These
instructions show screen captures of the PAC Integrated Development Environment (IDE)
software and C3 ServoManager to help show these steps. The first step is to configure the
Compax3 using the C3 ServoManager software and setting the EtherCAT & DS402 parameters.
The second part is to start the PAC IDE, auto scan for the EtherCAT devices and set the
EtherCAT network parameters, import a sample program and then download & run.
Compax3
• Device Selection
• I31T11 Drive Configuration
• EtherCAT & DS402 settings
EtherCAT connections
PAC
• Launch PAC software
• Start a Standard Project
• Connecting to PAC
• Discover EtherCAT devices
• Add SoftMotion Axis
• Rename SoftMotion axis
• Rename Axis & Set Scaling
• Parker Motors & Mechanics
• Set EtherCAT Master Task to External
• Set EtherCAT_Master Distributed Clock
• Set Compax3 EtherCAT
• Download & Import Sample Program
• Organize Project
• Set Distance/Velocity/Accel
• Build (F11)
• Login / Download
• Start PAC Application (F5)
• Watch List
• Online Monitoring & Stop Application
• Application in Stop & Reset Cold
2
Purpose
This document describes how to start a new application with the PAC and get
basic motion with the PAC with a Compax3 EtherCAT servo drive.
First we’ll show how to configure the Compax3-I31 for the PAC.
Then we’ll show configuring the PAC using the PAC IDE software.
For PAC users that are using the PLC only version (PAC320-P), skip to page
16.
Device Selection
Launch C3 Servo Manager
Double-click on Device Selection Wizard
This will launch the wizard that allows you to

select the appropriate model
Screen 1: SxxxVx or MxxxD6 or HxxxV4
(select your power level)
Screen 2: Fxx (select your feedback type)
Screen 3: I31 (Choose I31 for EtherCAT)
Screen 4: T11 (Choose I11)
Screen 5: M00 (Choose M00 for no options)
You will end up with a part number that looks like:

S063V2F12I31T11M00 and should match the label
on the side of your drive
3
Drive Configuration
Double-click on “I31T11 Drive Configuration”
The Drive Configuration Wizard opens and

you will need complete 16 steps – though only
a few need input.
Step 1: Motor Selection

You will need to select the motor you are using
See the picture below to see how the BE23 motor is found:
Parker US
BE23
Model
Click “Next”
4
Step 2: Motor Reference Data / PWM Settings

This step needs no input from you
This data is populated from the motor files
Click “Next”
Step 3: Motor Selection

Select the Parker part number for braking resistor
using – or enter the user defined value
Ignore this screen if not using a resistor
• The Compax3 already has

internal braking resistance,
however, if your needs
exceed the braking
capabilities, you may need
to use a Parker BRM
breaking module. See
manual for recommended
combinations.
Click “Next”
5
Step 4: This step is omitted
Step 5: Moment of Inertia

This is the most important tuning
step
The Compax3 uses this for
gains.
The closer you are to the
correct inertia of your load,
the better your system will be
tuned.
Suggestion: Use the value
from MotionSizer.
Enter the same load value in both
the “Minimum” and the “Maximum”
locations.
Only if your load isn’t
changing
If load changes (example
picking up a box, then
placing box) enter “Min” and
“Max” respectively.
“External Interia is unknown”
Do not check the box – if you
do, call Parker Applications
Engineering for help with this
AutoTuning Feature.
Or see free Video training:
www.parkermotion.com >
FAQ > Compax3 >
VIDEO: How do I tune a
Compax3? (auto-tune)
Click “Next”
6
Step 6: Distance / Travel Parameters

Select INCREMENTS for units of travel
Travel Distance per revolution: Use Motors post-quadrature Encoder or Resolver
resolution
Note: See page 25 for feedback resolution based on motor model number
Travel Distance per revolution-Denominator: This should always be 1
This is because the PAC’s setpoint is an integer value.
The other fields can be left at the default as shown.
Motor direction can be reversed by setting Invert Motor Rotation/Direction Sense.
Default motor direction is clockwise looking at the motor shaft or for IForce or
Ripped linear motors, extending away from the cable entry.
7
Step 7: Machine Zero / Homing

Set drive Homing Mode
Use Homing Mode Wizard to select
different options:
Z-pulse/encoder reference
Home sensor
Limit sensor
HardStop
PAC tells the Compax3 to start
homing and the C3 tells the PAC
when homing is complete
Click “Next”
Step 8: Travel Limits / Settings

For rotary applications without limits
Positive SW: 0 - No response
Negative SW: 0 - No response
Positive HW: 0 - No response
Negative HW: 0 - No response
All boxes unchecked
For axis with limits
Positive SW: 0 - No response
Negative SW: 0 - No response
Set soft limits in PAC
Positive HW: 1 - Stop, energized
Negative HW: 1 - Stop, energized
PNP NC: Set active low is unchecked
NPN NC: Set active low checked
(Requires 4.7k pulldown resistor)
Click “Next”
8
Step 9: Jerk / Ramps

No changes required, leave
as default
PAC controls these values
Click “Next”
Step 10: Monitoring / Limit Settings

Current Limit: Select as a percentage of motor continuous
Set Tracking Error – Set value
Set in increments
Suggested value: 1 rev or 25mm
Other values as default settings
Click “Next”
9
Step 11: Encoder Output

This can be left in the default state.
Select “ON” if you want to
send out the motor encoder
through the X11 connector
on the Compax3
The EtherCAT Cable automatically
sends the encoder/resolver position
to the PAC.
Step 12: I/O Assignment

Make sure the I/O assignment is select “Free”
This gives the PAC control over all I/O.
Click “Next”
10
Step 13: Position Profiles - Configuration

There is nothing to be done here.
Click “Next”
Step 14: Profile Table

This is where you would select the various
profiles called up by a PLC or digital I/O.
There is nothing to be done here because the
PAC controls all positioning.
Click “Next”
11
Step 15: Other Error Reactions

Default settings are shown
and recommend for most
applications
Highlight the field to reveal a
pull-down to change the error
reactions if needed
Click “Next”
Summary Configuration: “Your Part Number”

The Top Middle should be green; this means
that the setup is done.
You can name your configuration.
You can add notes to your configuration.
• You could download

your configuration
here, but we have to
setup the EtherCAT.
You will save time if
you just click “finish”.
This will bring you
back to the main
C3ServoManager
Screen.
Click “Finish”
12
EtherCAT & DS402 Scaling settings

The EtherCAT portion of the setup is very simple.
There are two steps:
Set the EtherCAT Mode
Set the DS402 scaling
Communication > EtherCAT

SLAVE with CoDeSys V3 SoftMotion
Communication > DS 402 / scaling setting

Change the Y4 scaling interpol pos setpoint to 10^0 (1)
Change the Y4 scaling actual position to 10^0 (1)
13
Download Drive configuration

Download PC > Compax3
or Red down arrow icon on
toolbar
Possible Errors
Problem 1:
Red Error Screen, check to see if correct COM port is selected
Options : RS232/485 Com Port Settings
Problem 2: FTDI chipset

Can’t Initiate Download: inside
1. Check to make sure 24volt power is on
2. SSK1/02 cable is being used
3. USB-RS232 adapter with FTDI chipset required.
Cables Unlimited USB2920 available on amazon.com
For more information:

http://www.parkermotion.com/support.htm
14
EtherCAT Connections
S24 Address dipswitches on C3 are not used.
PAC auto addresses EtherCAT slaves based on order they’re connected.
PAC IDE application needs to match this order. This is set when the
EtherCAT scan is done (page 20).
S24 lights will not start until the EtherCAT netowrk is started.
Ethernet cables can be standard or patch type.
Do not use switches or hubs on the EtherCAT network.
X1
X23 IN X23 IN X23 IN X23 IN

X24 OUT
X24 OUT X24 OUT
15
Launch PAC software
• Start Parker Automation Controller Integrated Developer Environment (IDE)
• Click New Project… or go to File > New Project
16
Start a Standard Project
• Select Standard project, name the project and set location
• Change Device to PAC320-?xx2x-xx(Parker Hannifin)
? is C, M or P based on your model number (on side of PAC320)

The PLC_PRG language type can be left as Structured Text (ST)
17
Connecting to PAC
• Now there’s Device, Application, EtherCAT_Master and PAC320_BusCoupler.
• In Devices window, Double-click on Device (PAC320-?xx2x-xx).
To view Devices, Goto: View > Devices

Under the controller, Type: 192.168.10.50 and press enter.
18
Connecting to PAC
• The green light on the PAC icon indicates connected.
Problems connecting?
1. Make sure your PC’s ip address is set to 192.168.10.x
where x is something other than 50
THE SUBNET HAS TO BE 255.255.0.0
2. The PC should be connected to the PAC’s X2 Ethernet port.
PAC supports both straight and patch cat5 cables.
For how to set your PC's Ethernet IP address:

http://www.parkermotion.com/support.htm
19
Discover EtherCAT devices

• Right-click on EtherCAT_Master
• Click Scan For Devices…
• This will auto-detect the PACIO
modules and any other EtherCAT
devices.
20
Discover EtherCAT devices

• Scanned Devices appear.
• Click Copy all devices to project.
• Devices window will update showing the EtherCAT devices:
• PAC320-P users can skip to page 35
21
Rename SoftMotion axis
• Change the
SM_Drive by clicking
to highlight the
name. Then click
SM_Drive again…
(Double click will
open the SoftMotion
tabs.)
…and rename it X
22
Rename Axis & Set Scaling
• This will triggers a refactoring. Click Yes and OK.
• Double-Click on X, then SoftMotion Drive: Scaling/Mapping tab

• Change the scaling to the motor’s resolution.
• This will set distance motor revs. Set mechanics scaling (optional, next 8 pages).
23
Parker Automation Controller Parker Mechanics
Parker Motors & Mechanics

The PAC allows users to program moves in user units.
Scaling for each axis is located on the SoftMotion Drive: Scaling/Mapping tab.
Scaling is set by 3 steps:
1. Defining the motor’s feedback resolution/increments.
2. Input the gearhead ratio
3. Input the ratio for application units (numerator & denominator).
Parker motors are offered with a wide range of feedback types and
resolutions. Gearheads and linear actuators & stages are offered a wide
range of leads and ratios. The order codes and the actual leads are listed on
the next few pages for reference.
24
Series Order Feedback

Parker Rotary Motors Code resolution
MPE 4E 10000
Step 1. X custom
Set the increments per motor turn. MPP 1E 8000
The drive should be set the same.
MPJ 41 4096
MPW 6S 32768
Parker motor part number’s order code designates
this and is shown on the right. 9S 32768
7D or 8D 524288
Below is set for a BE motor with J encoder 8000ppr. X custom
BE J 8000
R 4096
L 20000
X custom
SM E 4000
R 4096
L 20000
J 8000
X custom
N E 4000
J R 4096
X custom
MPM G 4096
JN 8000
other See
catalog
SMN 2S 8192
41 4096
5D 32768
25
Order Gear Ratio

Parker Gearheads Series
Code (exact)
PS 001 1:1
Step 2. PX 003 3:1
Set the motor turns per gear output PV 004 4:1
turns. RS 005 5:1
RX 007 7:1
Parker gearhead part number’s order PG/RA
code designates this and is shown on 008 8:1
NE/NR
the right. 010 10:1
012 12:1
Parker gearheads are exact ratios. 015 15:1
Thus the gear output turns will always
016 16:1
be 1.
020 20:1
Below shows setting for a 3:1 025 25:1

gearhead. 030 30:1
035 35:1
If the system doesn’t use a gearhead, 040 40:1
leave this set to the default (1:1).
050 50:1
070 70:1
100 100:1
26
Parker Mechanics
Step 3.
Set the gear turns per application units.
Parker actuators & stage part number’s

order code designates this and are
shown on the following pages as well
as the ratios for both inches and
millimeters.
As an example, below shows setting for

a ET with B05 in millimeters.
27
Parker Mechanics
Order mm in
Series Code Lead denominator numerator denominator numerator
HD D02 5mm 1 5 254 50
D03 10mm 1 10 254 100
D04 20mm 1 20 254 200
D07 40mm 1 40 254 400
XR, XE D2 5mm 1 5 254 50
D3 10mm 1 10 254 100
D4 20mm 1 20 254 200
D5 25mm 1 25 254 250
D6 32mm 1 32 254 320
D9 2mm 1 2 254 20
D31 1mm 1 1 254 10
D32 2mm 1 2 254 20
D33 5mm 1 5 254 50
D34 0.10 inch 100 254 10 1
D35 0.10 inch 100 254 10 1
ET A04 0.250 in 100 635 4 1
A05 0.200 in 100 508 5 1
A08 0.125 in 1000 3175 8 1
B01 1.000 in 10 254 1 1
B02 0.500 in 10 127 2 1
B04 0.250 in 100 635 4 1
B05 0.200 in 100 508 5 1
B08 0.125 in 1000 3175 8 1
B53 1.875 in 1000 47625 8 15
M05 5mm 1 5 254 50
M10 10mm 1 10 254 100
M20 20mm 1 20 254 200
M50 50mm 1 50 254 500
28
Parker Mechanics
Series Order Distance mm in

Code
per rev
denominator numerator denominator numerator
LCR BLT 44mm 1 44 254 440
30 58mm 1 58 254 580
LN02 2mm 1 2 254 20
LN10 10mm 1 10 254 100
ETH M05 5mm 1 5 254 50
M10 10mm 1 10 254 100
M16 16mm 1 16 254 160
M20 20mm 1 20 254 200
M32 32mm 1 32 254 320
29
Parker Mechanics
OSPE Order Distance
mm in
Series Code
per rev
BHD 20 125mm
1 125 254 1250
25 180mm
1 180 254 1800
32 240mm
1 240 254 2400
50 350mm
1 350 254 3500
B 25 60mm
1 60 254 600
32 60mm
1 60 254 600
50 100mm
1 100 254 1000
SB 25..3 5mm
1 5 254 50
25..4 10mm
1 10 254 100
32..4 10mm
1 10 254 100
25..5 25mm
1 25 254 250
32..5 25mm
1 25 254 250
50..5 25mm
1 25 254 250
ST 25 4mm
1 4 254 40
32 4mm
1 4 254 40
50 6mm
1 6 254 60
BV 20 108mm
1 108 254 1080
25 160mm
1 160 254 1600
30
Parker Mechanics
HMR Order Distance
mm in
Code
per rev
S 05 5 mm
1 5 254 50
10 10 mm
Ball 1 10 254 100
Screw 12 12 mm
1 12 254 120
Drive
16 16 mm
1 16 254 160
20 20 mm
1 20 254 200
25 25 mm
1 25 254 250
32 32 mm
1 32 254 320
B 08 66 mm
1 66 254 660
11 90 mm
Belt 1 90 254 900
Drive 15 BD or DD 100 mm
1 100 254 1000
15 AP/CP/AD/CD 125 mm
1 125 254 1250
18 BD or DD 130 mm
1 130 254 1300
1 150 254 1500
24 BD or DD 160 mm
1 160 254 1600
1 224 254 2240
31
Set EtherCAT_Master Distributed Clock

• Double-click on EtherCAT_Master (PAC320 EtherCAT Master)
• Set Cycletime to 2000us (and press ENTER)
• Set Sync Offset to 50%
• Enable Sync Window Monitoring and set to 100us
32
Compax3 EtherCAT settings
• Double-click on Compax3_EtherCAT_DS402_CoE
• This shows the slave settings for the Compax3.
• Do not need to change these.
• This should match the DC setting from previous step.

• IF IT DOESN’T MATCH, REPEAT PREVIOUS STEP.
33
Set EtherCAT Master Task to External

• Under Task Configuration, double-click on EtherCAT_Master
• Change the Type from Cyclic to External
• Do not change interval
• Interval should already match our EtherCAT Master setting of 2000us
• If not, go to EtherCAT_Master device setting (page 32)
• The External Event will be EVEN_ECM_DC which is the Distributed

Clock.
• It should look like this:
• Delete PLC_PRG from application and MainTask
34
Download & Import Sample Program
• Download sample program export

http:// www.parkermotion.com/PAC
• Download QuickStart sample programs (.zip) and unzip the .export files
35
• Click on Application
• Project > Import…
36

For the PAC320-M or PAC320-C, use RunMotion_X.external
For the PAC320-P, use Counter.external
• Click OK to import
• If you see this, click on Application and you should see above.
37
Organize Project
• Hold Ctrl key
• Select IO_AxisControl
and RunMotion_X
• Drag them into POUs
and drop them onto
project name (QuickStart
in this example)
• For the PAC320-P, drag

Counter into QuickStart.
To keep projects clean as users develop POUs (programs, function blocks and
functions) organize them in POUs.
• This keeps from cluttering the Devices window.

• For applications with more than one device, allows ONE location to
make changes, rather than having to maintain copies under each
device.
• Folders can be created for grouping the parts of the program for
different machine functions.
• External files can also be imported into POUs for drawings,
ECOs/version control, docmentation, etc.
38
Organize Project
• Motion must be in the EtherCAT task!!!

• Right-click on EtherCAT_Master
• Add Object > Program call…
• PAC320-C and PAC320-M users: Delete MainTask
• PAC320-P: Add Program call… in Main Task instead of EtherCAT_Master
39
Organize Project
• Either type RunMotion_X, or…
For PAC320-P users, type Counter
• Click the …
• Select from Input Assistant
40
Organize Project
• PAC320-C or PAC320-M projects should look like this:
• PAC320-P projects should look like this:
41
Set Distance/Velocity/Accel
• RunMotion_X program will enable the Compax3 drive, home and then
extend and retract.
• g_PosDistance is the extend incremental distance.
• g_NegDistance is the retract incremental distance.
• g_Vel is the speed/velocity for both moves.
• g_Acc is the acceleration/deceleration for both moves.
• Set the Distance, Speed and Acceleration to appropriate values for your
motor and mechanics in the Global Variable List (GVL):
For PAC320-P users, skip this step. The counter program will increment a
variable. Proceed to next page to compile.
42
Build (F11)
• Build > Build (F11)
• Message window on bottom should have 0 Errors
43
Login / Download
• Online > Login

• Or, click Login icon on toolbar
• On first time, it’ll warn that Application doesn’t exist.

• On subsequent logins, if the Application has changed or if PAC is running,
it’ll give a warning.
44
Start PAC Application (F5)

• Now online, click Start or F5 to run application
• EtherCAT devices will start green circular arrows and program starts running.
• RunMotion_X:This will enable the motor, home and then extend and retract.
• Counter: This increment a CounterPLC variable every 1 second.
45
Watch List
• To add variables to a Watch list, go to View > Watch > Watch 1
• Right-click on variables within the program and select Add Watch
46
Online Monitoring & Stop Application
• To stop PAC application, click Stop
47
Application in Stop & Reset Cold

• An application in stop, stops updating variables and the EtherCAT slaves
will be greyed circular arrows.
• To restart, Online > Reset cold. This re-initializes all variables and slaves.
Then click Start to run again.
48
Application in Stop
• After Reset Cold, Application is in [stop] until Start (F5)
Orange/red triangles are normal in this state.
Questions or Comments? Email emn_support@parker.com
49

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Parker Automation Controller

Parker Automation Controller

This will launch the wizard that allows you to

You will end up with a part number that looks like:

The Drive Configuration Wizard opens and

Step 1: Motor Selection

Step 2: Motor Reference Data / PWM Settings

Step 3: Motor Selection

• The Compax3 already has

Step 4: This step is omitted

Step 5: Moment of Inertia

Step 6: Distance / Travel Parameters

Step 7: Machine Zero / Homing

Step 8: Travel Limits / Settings

Step 9: Jerk / Ramps

Step 10: Monitoring / Limit Settings

Step 11: Encoder Output

Step 12: I/O Assignment

Step 13: Position Profiles - Configuration

Step 14: Profile Table

Step 15: Other Error Reactions

Summary Configuration: “Your Part Number”

• You could download

EtherCAT & DS402 Scaling settings

Communication > EtherCAT

Communication > DS 402 / scaling setting

Download Drive configuration

Problem 2: FTDI chipset

For more information:

X23 IN X23 IN X23 IN X23 IN

Launch PAC software

• Start Parker Automation Controller Integrated Developer Environment (IDE)

• Click New Project… or go to File > New Project

Start a Standard Project

• Select Standard project, name the project and set location

• Change Device to PAC320-?xx2x-xx(Parker Hannifin)

? is C, M or P based on your model number (on side of PAC320)

• In Devices window, Double-click on Device (PAC320-?xx2x-xx).

To view Devices, Goto: View > Devices

PAC supports both straight and patch cat5 cables.

For how to set your PC's Ethernet IP address:

Discover EtherCAT devices

Discover EtherCAT devices

• Devices window will update showing the EtherCAT devices:

• PAC320-P users can skip to page 35

Rename SoftMotion axis

Rename Axis & Set Scaling

• This will triggers a refactoring. Click Yes and OK.

• Double-Click on X, then SoftMotion Drive: Scaling/Mapping tab

Parker Motors & Mechanics

Series Order Feedback

Order Gear Ratio

Below shows setting for a 3:1 025 25:1

Parker actuators & stage part number’s

As an example, below shows setting for

Series Order Distance mm in

Set EtherCAT_Master Distributed Clock

Compax3 EtherCAT settings