halstrup-walcher PS*3**C series Page 23 Instruction Manual Download | Manualshive

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Instruction Manual PSx3xxC

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3 Sequence of positioning

a) Positioning run

-

The drive must be set to CANopen ‘operational mode’ before it can be controlled

using PDOs.

- Transfer target value (PDO with control word = 0014h and target value, or target

value to SDO #2001): drive begins run

- Abort run by resetting the release bit (transmit PDO with control word = 0000h or

transmit SDO #2024 with value 0000h).

- If a new target value is transferred during a positioning run, the device will

immediately proceed to the new target. There will be no interruption if the direction of
rotation does not need to be altered.

- If a manual run is transmitted during a positioning run, the positioning run will be

aborted (speed will be reduced to that of a manual run) and the device proceeds with
the manual run.

The following sequence of steps is also possible:
Starting situation:
- release has not been set
- Target value has already been transferred (in case of PDO transfer the release in the

control word was not set already)

Set release: drive begins run

b) Positioning run without loop

The sequence corresponds to that of a positioning run with loop; in addition to setting
the release, however, bit 6 in the control word also has to be set to execute the run
without loop.

c) Manual run

- start manual run (transmit PDO with control word = 0011h resp. 0012h or transmit

SDO #2024 with value 0011h resp. 0012h): device begins to run

- End manual run by clearing the manual run command (transmit PDO with control

word = 0010h or transmit SDO #2024 with value 0010h) or by deasserting release
(transmit PDO with control word = 0000h or transmit SDO #2024 with value 0000h).

- Transferring a target value during a manual run will end the manual run and the

device will immediately move on to the transmitted position.

4 Specials

a) Speed, acceleration and deceleration

The initial reference loop and the manual run are performed at the maximum speed
specified in SDO #2013; positioning runs are performed at the maximum speed
specified in SDO #2012. When the run is counterclockwise, additionally the maximum
speed in SDO #2020 applies, when the run is clockwise, the one in SDO #2021
applies. For all runs the maximum acceleration in SDO #201C and the maximum
deceleration in SDO #201D apply. At the end of each run the maximum deceleration

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Summary of Contents for PS*3**C series

Page 1: ...004224 03 2017 Instruction Manual PSx3xxC halstrup walcher GmbH Stegener Straße 10 D 79199 Kirchzarten Tel 49 0 76 61 39 63 0 Fax 49 0 76 61 39 63 99 E Mail info halstrup walcher com Internet www halstrup walcher com ...

Page 2: ...al connections and start up 4 1 3 Troubleshooting maintenance repairs disposal 4 1 4 Symbols 5 2 Device description 5 2 1 Features 5 2 2 Installation Hollow shaft 5 2 3 Pin assignment 6 2 4 Setting the device address and baud rate 7 2 5 Start up 8 2 6 CAN Bus 9 3 Sequence of positioning 23 4 Specials 23 5 Technical Data 30 ...

Page 3: ...e throughout the lifecycle of the devices It must be provided to any individuals who assume responsibility for operating the device at a later date It must include any supplementary materials provided by the manufacturer The manufacturer reserves the right to continue developing this device model without documenting such development in each individual case The manufacturer will be happy to determi...

Page 4: ... Assembly and the electrical connections should only be handled by professionals They should be given proper training and be authorised by the operator of the facility The device may only be operated by appropriately trained individuals who have been authorized by the operator of the facility Specific safety precautions are given in individual sections of this manual 1 3 Troubleshooting maintenanc...

Page 5: ...ng system and CANopen interface The integrated absolute measuring system eliminates the need for a time consuming reference run Connecting to a bus system simplifies the wiring A hollow shaft with adjustable collar makes assembly quite simple The positioning system is especially suitable for automatically setting tools stops or spindles for wood processing equipment packing lines printing equipmen...

Page 6: ...e housing cover of the PSx3xxC A series 715 B encoded 5 pin round socket and 5 pin B encoded plug are provided for connecting the CAN bus A 9 pin D sub plug is also available as an optional CAN bus connection A Binder series 718 4 pin plug is used to connect the jog keys optional Supply voltage connector Connector for jog keys round plug Harting plug external top view external top view 1 24V motor...

Page 7: ...ate The rotary switches indicate the tens and ones places of the address selected If the switches are resting in the positions 00 or 01 the address is set using the CAN bus with SDO 2026 The delivery setting is 00 the PSx3xxC reports to the bus with the address 1 If the switches have been used to set the address i e the switch setting is 01 this value cannot be changed via the CAN bus The yellow L...

Page 8: ...ed directly 2 New position value is smaller than the current value the device reverses 5 8 of one rotation and approaches the exact position after resuming forward motion 3 New position value after reverse run without loop the device always approaches the position by moving in forward direction if necessary it will first reverse by 5 8 of a rotation Once the target position has been reached the de...

Page 9: ...ccording CANopen Single flashes CAN stop Continuous flashing CAN preoperational Continuously illuminated CAN operational red LED ERROR LED according CANopen Off no error Single flashes CAN transmitter or receiver has reached its warning limit Double flashes Guard event has occurred Triple flashes Sync failure Continuously illuminated CAN Bus OFF yellow LED Display actuator voltage Off supply volta...

Page 10: ...Heartbeat time in msec bit 23 16 node ID of producer 8 bit 32 bit no 2 0 R R W producer heartbeat 1017 cycle time for heartbeat via PSx3xxC 0 off 16 bit no 500 R W identity 1018 sub index 0 quantity of indexes 4 sub 1 Vendor ID 0x000002D8 sub 2 Product code 0x30313334 sub 3 Revision number 0 sub 4 Serial number 0 8 bit 32 bit 32 bit 32 bit 32 bit 4 R R R R R receive PDO 1 communi cation parameter ...

Page 11: ... 2 R W actual value assessment numerator 2010 These values can be used to set a desired user resolution to the drive For a numerator factor of 400 the denominator factor holds the spindle pitch per resolution e g spindle pitch 1 5 mm with resolution 1 100 mm numerator 400 denominator 150 1 10000 16 bit yes 400 R W actual value assessment denominator 2011 1 10000 16 bit yes 400 R W target rpm posi ...

Page 12: ...ncrements which the drive moves in a pre defined direction when approaching a target position value in increments value 0 no loop 0 025 1 rotations or 0 32 bit yes 250 R W maximum rpm counter clockwise 2020 value in rpm see table 16 bit yes see table R W maximum rpm clockwise 2021 value in rpm see table 16 bit yes see table R W size of individual increment 2022 number of increments when external k...

Page 13: ...n to smaller values Bit 10 release readjustment Bit 11 execute braking free run Bit 12 run with drag error correction All other bits must be set to 0 16 bit no 0 R W status word 2025 Bit 0 target position reached Bit 1 drag error Bit 2 reverse jog key active Bit 3 forward jog key active Bit 4 motor power present Bit 5 positioning run aborted Bit 6 drive is running Bit 7 temperature exceeded Bit 8 ...

Page 14: ... 2031 maximum torque occurring during the most recent run start phase during which the maximum start up torque applies see SDOs 2018 2019 and the phase when the drive is braking down are not considered value in cNm 16 bit R actual torque 2033 value in cNm 16 bit R U control 203A current supply voltage for control unit given in increments of 0 1 V 16 bit R U motor 203B current supply voltage for mo...

Page 15: ...4C when CAN bus is not connected 0 external keys are active if the address 0 or 1 is set with the help of the address switches 1 external keys are active when CAN bus is connected 0 only if in the control word bit 5 is active release for jog key mode and bit 4 is inactive release for positioning by bus 1 additionally when the CANopen state is preoperational When the external keys are active bits 8...

Page 16: ...sets CAN address SDO 2026 to 1 baud rate SDO 2027 to 500 kBaud starts initial reference loop then positioning to the middle of the measurement range A different CAN address or baud rate is only active after reset or reset communication writing 1 saves all parameters in the EEPROM reading directly after boot 0 content of memory correct 0 content of memory incorrect reading after saving 0 saving fin...

Page 17: ...ue at end of run 2042 0 180 60 0 300 100 0 600 200 0 200 70 0 400 140 0 700 300 number of braking free steps 2048 1 50 4 1 50 4 1 50 3 1 50 4 1 50 4 1 50 3 device model PSW 301 x 311 x 302 x 312 x 305 x 315 8 322 14 332 14 325 14 335 14 328 14 Name Index number value range delivery state target rpm posi 2012 15 180 180 10 125 125 3 60 60 20 150 125 10 80 60 5 35 35 target rpm hand 2013 15 180 80 1...

Page 18: ...800 number of braking free steps 2048 1 50 4 1 50 4 1 50 4 device model PSE 3110 14 3125 14 3410 14 3418 14 Name Index number value range delivery state target rpm posi 2012 1 30 30 1 12 12 10 100 100 5 90 90 target rpm hand 2013 1 30 12 1 12 5 10 100 40 5 90 30 maximum rpm counterclockwise 2020 1 30 30 1 12 12 10 100 100 5 90 90 maximum rpm clockwise 2021 1 30 30 1 12 12 10 100 100 5 90 90 accele...

Page 19: ... reached successfully after running an initial reference loop when the actual value corresponds to the previously transferred target value This bit is reset after transferring a target position if the difference from the actual value is larger than the positioning window SDO 2006 by a manual run if an invalid target value has been transferred if rotated manually when on standstill Bit 1 drag error...

Page 20: ...y 5 C Bit 8 movement opposite loop direction This bit is set during a manual run in the direction opposite that of the loop direction a subsequent manual run in the loop direction will not reset this bit during a positioning sequence in the direction opposite that of the loop direction This bit is reset when a transferred target position has been reached successfully in the loop direction after th...

Page 21: ... limit and below 30V when initiating a positioning run or an initial reference loop Bit 14 15 positive negative range limit This bit is set if the limit value is reached during a manual run but not if reached during a positioning run if a limit value is modified such that the current position lies beyond the limit if while on standstill by means of an external force the drive is moved to a positio...

Page 22: ...t is set the drive readjusts when it is displaced out of its position in the direction opposite to that of the loop direction at the end of a run If bit 6 run without loop is being set the drive readjusts the position in both directions Bit 11 Execute braking free run At the beginning of a positioning at first the brake is released and the waiting time for brake is being awaited SDO 2044 Within th...

Page 23: ...ng run without loop The sequence corresponds to that of a positioning run with loop in addition to setting the release however bit 6 in the control word also has to be set to execute the run without loop c Manual run start manual run transmit PDO with control word 0011h resp 0012h or transmit SDO 2024 with value 0011h resp 0012h device begins to run End manual run by clearing the manual run comman...

Page 24: ... rotation for any desired portion of these 250 rotations The mapping of the desired positioning range to the physical positioning range is done with the help of the parameter upper mapping end SDO 2028 In the delivery state the drive is at position 51200 the upper limit switch is set to 101200 and the lower limit switch is set to 1200 yielding a positioning range of 125 rotations 50000 increments ...

Page 25: ...tual value assessment numerator SDO 2010 400 c actual value assessment denominator SDO 2011 400 These 3 SDOs have an influence on the above given increment and position values With the help of the referencing value a shift can be reached with the help of the actual value assessment numerator and denominator a stretching or distension can be reached see below 3 When changing the direction of rotati...

Page 26: ...e used to represent any desired spindle pitch Both factors are set to a value of 400 by default resulting in a resolution of 0 01 mm at a spindle pitch of 4 mm The denominator factor serves as a simple means of setting the spindle pitch and resolution The numerator factor is primarily used for setting unlevel resolutions Examples Spindle pitch Resolution Numerator factor Denominator factor 4 mm 1 ...

Page 27: ... 1 X X X active yes X 0 X X 0 inactive yes X 0 X 1 X inactive yes X X X 0 1 active yes X 1 operational X 0 inactive yes X 1 operational 1 X inactive yes X 1 preoperational X X active Bit 5 release for jog key mode and bit 4 release for positioning by bus cannot be set simultaneously Changing the release while running for example from jog key mode to positioning by bus aborts a run in the other ope...

Page 28: ... prevents the output shaft from turning when the power supply to the motor is removed or if the motor holding torque is too low to a maximum of the level of the nominal torque A small degree of rotation always occurs at the output i e the brake cannot be used to hold the drive at a defined position for this purpose where appropriate the holding torque might be increased with the help of SDO 202B a...

Page 29: ...42 to 0 set the rpm limit for aborting run SDO 201A to 60 set the time elapsed until speed falls below rpm limit for aborting run SDO 201B to 100 The span of time in which the drive trys to get over the block decreases With the reduced values the positioning will be aborted if the speed stays below 60 of the target speed for longer than 100ms By default these values are 30 and 200ms set the corres...

Page 30: ... data nominal power output PSx30xC PSx31xC PSE31xxC 25 W with 30 duty cycle PSx32xC PSx33xC PSE32xxC PSE33xxC 35 W with 30 duty cycle PSE34xxC 100 W with 20 duty cycle supply voltage 24 VDC 10 supply voltages for motor and control unit are galvanically isolated advice use regulated power supplys nominal current control unit 0 1 A nominal current motor PSx30xC PSx31xC PSE31xxC 2 2 A PSx32xC PSx33xC...

Page 31: ...SS3xxC 8 PSW3xxC 8 8H9 hollow shaft with adj collar or 8h8 solid shaft PSS3xxC 14 PSW3xxC 14 14H7 hollow shaft with adj collar or 14h8 solid shaft recommended diameter of the spindle head according to the hollow shaft diameter with an interference fit of h9 maximum radial force 40 N maximum axial force 20 N dimensions l x w x h see catalog data on our website weight approx PSx30xC 8 650 g PSx30xC ...

Page 32: ...Instruction Manual PSx3xxC 32 ...

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