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halstrup-walcher PSD4 Series, Manual

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Description of EtherCAT

 

 

 

 

 

7100.006514_Bus description_PSD4xx_EC_F_EN 

7

 

2022-12-12 

  Description of EtherCAT 

3.1 

EtherCAT interface with CoE protocol (CANopen over EtherCAT) 

The EtherCAT interface uses the CANopen over EtherCAT protocol in accordance with 
ETG1000.6 Section 5.6: 

One transmit and one receive SDO per device  

One asynchronous transmit and receive PDO, active by default 

 

3.2 

Status LEDs 

 

 

The following LEDs are located under the sealing plug:

 

1 

V_Motor 

Yellow LED = Motor supply voltage 

2 

P1L/A 

Green LED = Link/Activity 

P2L/A 

Green LED = Link/Activity 

3 

Run 

Green LED = Signals the ESM status 

Error 

Red LED = Signals an error 

4 

X10 

Address switch x10 

5 

X1 

Address switch x1 

 

Meaning of the LEDs: 

Yellow LED motor supply voltage (V_Motor) 

Off 

Motor voltage too low or too high 

On 

Motor voltage is OK 

Flashing at 0.5 Hz 

Motor voltage is OK and drive is in the delivery state 

 

Summary of Contents for PSD4 Series

Page 1: ...Bus description PSD4xx positioning system EtherCAT...

Page 2: ...copied either wholly or in part or made available to third parties The instruction manual is part of the product Please read this manual carefully follow our instructions and pay special attention to...

Page 3: ...General 7100 006514_Bus description_PSD4xx_EC_F_EN 3 2022 12 12 Table of Contents...

Page 4: ...e into a field bus system Technical data for the electrical connections of your drive can be found in the electrical connector and pin assignment description on the website www halstrup walcher de tec...

Page 5: ...ly can lead to the destruction of the drive WARNING Check that the supply lines are not pinched or crushed Lay the supply lines according to the general and specific local assembly regulations If the...

Page 6: ...t installing the drive as well as electrical connections and pin assignments at the following link www halstrup walcher de technicaldocu Please search for PSD and select your type click on Instruction...

Page 7: ...transmit and receive PDO active by default 3 2 Status LEDs The following LEDs are located under the sealing plug 1 V_Motor Yellow LED Motor supply voltage 2 P1L A Green LED Link Activity P2L A Green...

Page 8: ...RATIONAL The red Error LED signals an error Off No error Single flashes at 1 Hz Local error application is changing ESM status Double flashes at 1 Hz Watchdog timeout Flashing at 2 5 Hz Configuration...

Page 9: ...s 1C00 Sub index 0 No of indices 4 Sub 1 SM0 1 Sub 2 SM1 2 Sub 3 SM2 3 Sub 4 SM3 4 8 bit 8 bit 8 bit 8 bit 8 bit 4 R R R R R SM0 PDO Assignment 1C10 Sub index 0 No of indices 0 8 bit 0 R SM3 PDO Assig...

Page 10: ...ror 2005 Reserved Positioning window 2006 Permissible difference between target and actual values for the target position reached bit in 1 100 mm for a 4 mm spindle and default values of numerator and...

Page 11: ...plies value in cNm See chap 3 4 16 bit Yes See chap 3 4 R W Upper limit 2016 Maximum permitted target position Permissible values upper mapping end 1200 1611600 numerator denominator For models with a...

Page 12: ...eed limit for aborting run 201B Value in ms 50 500 16 bit Yes 200 R W Acceleration 201C Value in rpm per second See chap 3 4 16 bit Yes See chap 3 4 R W Deceleration 201D Value in rpm per second See c...

Page 13: ...0 Manual run to larger values Bit 1 Manual run to smaller values Bit 2 Transfer target value Bit 3 Reserved Bit 4 Release the axle will only run if bit is set Bit 5 Reserved Bit 6 Run without a refere...

Page 14: ...Drive is running Bit 7 Max temp exceeded Bit 8 Run in opposite direction to loop Bit 9 Error Bit 10 Positioning error obstruction Bit 11 Manual rotation Bit 12 Incorrect target value Bit 13 Power was...

Page 15: ...4 16 bit Yes See chap 3 4 R W Direction of rotation 202C 0 Clockwise rotation to larger values if looking at the output shaft 1 Anti clockwise rotation to larger values Writing is only possible when a...

Page 16: ...3E Upper temperature limit in C 10 80 16 bit Yes 80 R W Device temperature 203F Internal device temperature in C 16 bit R Production date 2040 Year and week of manufacture given as an integer YYWW 16...

Page 17: ...s to the delivery state saves the parameters in EEPROM then positions the drive in the middle of the measurement range Station name and IP address are not affected Writing a 4 Sets the values of all p...

Page 18: ...tioning run to the middle of the measurement range can be aborted at any time by setting control word 0 with SDO 2024 if state is not operational or via the PDO control word Furthermore in operational...

Page 19: ...H Name Index no Range of values Delivery state Upper mapping end 2028 806 400 806 400 198 498 806 400 806 400 Upper limit 2016 805 200 805 200 197 298 805 200 805 200 Lower limit 2017 805 200 805 200...

Page 20: ...2013 1 482 34 1 317 22 1 250 17 1 800 70 1 500 70 1 250 17 Acceleration 201C 1 2411 240 1 1587 150 1 1250 125 1 5000 1000 1 5000 1000 1 1250 250 Deceleration 201D 1 2411 960 1 1587 635 1 1250 500 1 5...

Page 21: ...Bit Byte Meaning Corresponding SDO index number 0 15 0 1 Status word 2025h 16 31 2 3 Current rpm 2030h 32 63 4 7 Actual value 2003h Note Assignment cannot be modified 3 5 2 Input module from the persp...

Page 22: ...he actual value is larger than the positioning window SDO 2006 by a manual run if an invalid target value has been transferred as a result of manual displacement during standstill Bit 1 Reserved Bit 2...

Page 23: ...oop This bit is set after power up or a reset a lash in a driven spindle which might be present has not yet been eliminated when initiating a positioning run or manual run in the opposite direction to...

Page 24: ...een finished successfully This bit is reset for every new run command Bit 12 Incorrect target value This bit is set if a transferred target value lies outside the outside the range limits caused e g b...

Page 25: ...ositioning run if an end limit is modified such that the current position lies beyond it if when at a standstill the drive is moved to a position beyond the range limits by an external force This bit...

Page 26: ...ositioning run can be started to the last transmitted target value that has been marked as valid Bit 3 Reserved must be set to 0 Bit 4 Release Run commands will only be executed if this bit is set Thi...

Page 27: ...d during a positioning run the positioning run will be aborted velocity will be reduced to that of a slow run and the operator may proceed with the manual run The following sequence of steps is also p...

Page 28: ...no reference loop the drive always approaches by moving forward 3b if necessary it will first reverse by 5 8 of a rotation 3a After reaching the target position this position is compared with the inte...

Page 29: ...h control word 0x10 and or 0x00 Stops the manual run Note If a positioning run is required during an active manual run the drive must be stopped reset the release bit The positioning run can be initia...

Page 30: ...rating torque values should not be used in combination with high speed settings as this can lead to instability 4 5 How to respond if the drive encounters an obstruction If an obstruction is detected...

Page 31: ...otation and reset bit 0 Target position reached Note If the drive continually loses its position when at a standstill it will attempt to adjust whenever its actual position just leaves the positioning...

Page 32: ...stable collar open and only then close the adjustable collar Examples a Bring the axle to be positioned into the mid position run the drive in neutral with the adjustable collar open to the mid positi...

Page 33: ...tations below the upper mapping end 2 The numbers of increments or position values indicated relate to the following settings which correspond to the delivery state a Reference value SDO 2004 0 b Posi...

Page 34: ...ferencing process affects all transferred values i e the target value actual value upper mapping end and upper and lower limits There are two ways of setting the referencing value 1 Directly by writin...

Page 35: ...Examples Spindle pitch Resolution Numerator factor Denominator factor 4 mm 1 100 mm 400 400 1 mm 1 100 mm 400 100 2 mm 1 10 mm 400 20 Note Numerator and denominator factors may take on values between...

Page 36: ...ime during which the drive tries to overcome the obstruction decreases with these reduced values the positioning run is aborted if the speed rpm remains below 60 of the target speed for longer than 10...

Page 37: ...n the permissible speed will damage the internal protection diode and the PSD4xx will be defective Please refer to the following table to find the maximum permissible speed Device model PSD 401 411 5V...

Page 38: ...2 12 Technical data Technical data and drawings can be found in the current data sheet on the website www halstrup walcher de technicaldocu Please search for PSD and select your type click on Data she...

Page 39: ...Notes 7100 006514_Bus description_PSD4xx_EC_F_EN 39 2022 12 12...

Page 40: ...Tel 49 7661 39 63 0 info halstrup walcher com www halstrup walcher com halstrup walcher GmbH Stegener Stra e 10 79199 Kirchzarten GERMANY...

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