PSD in Analog Torque Mode with an ACR Controller & Replacement of a Compax3 I10T10 with an ACR Controller

This guide covers wiring/programming of a PSD with a Parker ACR Controller (ACR7000C or ACR9000) in Analog Torque Mode, primarily when converting a Compax3 I10T10 application.  

The ACR is taking position feedback from the PSD to close the position loop.

PSD Order code:

• A PSD power size selected to match Compax3 in use. Understand the motor to select the correct PSD.

• The drive must be a 'C’ Codesys variant

• The drive must come with an ‘02’ or ‘22’ Option Board

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Needs:

• Using standard control cabling

  • For this guide utilizing the Compax3’s cable for Analog Torque Mode

    • 71-021108-XX.idw (parker.com) 

• A breakout board for the above cable’s 15pin Dsub I/O connection is needed. The PSD uses flying leads.

• An external 24V power supply

Downloads:

• Latest version of PSDservoManager 

  • PSD Downloads

• Codesys v3.5.16.40 

  • Required to Source Download the .projectarchive to the PSD

  • PSD Downloads 

• Parker provided ‘PSD I/O file’ to configure the PSD’s X30

  • Analog Input, Encoder Simulation Output, Torque Mode, etc 

• Parker provided .projectarchive which adds logic to the PSD

  • Run, Reset, Enable, etc 

  • This mimics a Compax3 I10T10

Control Power and Programming: 

Install 24V control power to the PSD at X17, pins 1 and 2. Ensure the 24V supply feeding these pins can be jumped/spliced/etc into for later in this guide.  

1. Open PSDservomanager

2. Start a new project

3. In ‘Device Settings' configure your PSD Power Module

   • Online (must be connected to a PSD)

   • Via the Wizard

4. In ‘Device Settings' configure your AC mains power and Fieldbus Type (select an option)

   • EtherCAT-only modules will not be prompted to configure the Fieldbus

5. Configure your Motor in the Axis tab

6. Configure the I/O pins by Importing the provided I/O configuration file above (.PSDiocfg)

   • This mimics a Compax3 I10T10

7. Ensure the resolution matches the feedback resolution (in pulses/rev) in your ACR configuration

   1. 4096 is only an example. This can be set as high as you’d like.

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8. The above is the minimum requirements of the project for installation and to get a motor to move via an ACR. Configure the rest of your “Axis 1” to align with your application needs (units, limits, homing, etc)

9. Connect to the PSD if not already

10. Install the .PSDproj

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9. Via PSDManager set your Codesys path to your installation of Codesys v3.5.16.40.   

Open

10. Import PLC projectarchive

Open

NOTE: You can ‘attach’ a .projectarchive into a .PSDproj, but Codesys is still required to compile the project

11. Launch Codesys

    • Use the PLCArchive ‘Yes’ when prompted

12. “Extract” and “OK” through the prompts

13. File → Source Download  

14. Select the PSD to Download into and hit ‘OK’ 

15. When completed, close Codesys

Wiring: 

• The 15pin DSUB I/O connector (Connector C) will need to be broken out into flying leads   

  • The Compax3 had a 24V I/O Power Pin. On the PSD the I/O Power comes from an external 24V supply

• The Compax3’s X4/3 STO becomes the PSD’s X17 SiL STO connections. 

• The Reference connector from the ACR (Connector B) can be connected directly to PSD X31 Reference 2 on the Option Board

• Motor Feedback – The PSD pinouts match the Compax3 pinouts for supported feedback types 

  • **If Parker Cabling F-2C1-xx was used for Compax3 F12 options, it must be Rev E or later for use with the PSD. If it is not Rev E, a new cable will need to be purchased.

    • The PSD has a 3.3V temperature sensor voltage.  

    • The Compax3 had a 5v temperature sensor voltage