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PSx3xxDN Instruction Manual

27

OR
- Set control word explicitly to 10h (using the PSE object; class 100, instance 1,

attribute 36)

- End manual run by withdrawing release:

- Poll I/O with control word 0h
OR
- Bit strobe with bit 0
OR
- Set control word explicitly to 0h (using the PSE object; class 100, instance 1,

attribute 36)

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

immediately move on to the transmitted position.

4 Special features

a) Speed, acceleration and deceleration

The initial reference loop and the manual run are performed at the maximum speed
specified in the PSE object; class 100, instance 1, attribute 19; positioning runs are
performed at the maximum speed specified in attr. 18. When the run is
counterclockwise, additionally the maximum speed in attr. 32 applies, when the run is
clockwise, the one in attr. 33 applies. For all runs the maximum acceleration of attr.
155 and the maximum deceleration of attr. 156 apply. At the end of each run the
maximum deceleration decreases during the approach to the destination successively
in order to realize a harmonic transient behaviour.

b) Response of drive in case of block or manual displacement

If during a run the achievable rate of speed falls below the threshold parameter (30%
of the selected maximum speed; attr. 26) for longer than 200 ms (attr. 27), the device
detects blocking, aborts the run and sets the "positioning error" bit (here the default
values are given).
New run commands can then be transmitted with no further steps to take. An
exception is, if the run should go to the same target than before. In this case,
deassert the release (bit 4 of the control word) and assert it again, then transfer the
target position one more time (either by Poll I/O or explicit).
If the PSx3xxDN is displaced by external force during standstill opposite to the loop
direction and the release bit (bit 4) as well as the release readjustment bit (bit 10) in
the control word are being set, the device will attempt to reach the previously
transmitted target value once again (readjustment). The device does not attempt to
readjust if rotated in the loop direction; it merely sets the ‘manual rotation’ bit. If bit 6
(„run without loop“) is being set, the drive readjusts the position in both directions.
Deasserting the release and/or the release readjustment bit can completely stop the
readjustment process.

c) Calculating the absolute physical position

The PSx3xxDN actuator includes an absolute measuring system with measurement
range of 250 rotations. This allows the user to determine the direction of rotation for
any desired portion of these 250 rotations.

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Содержание PS*3**DN series

Страница 1: ...Sx3xxDN halstrup walcher GmbH Stegener Straße 10 D 79199 Kirchzarten Germany Phone 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 Document 7100 004144 03 2017 ...

Страница 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 5 2 3 Pin assignment 6 2 4 Setting the device address and baud rate 7 2 5 Start up 9 2 6 CAN Bus 9 3 Sequence of positioning steps 26 4 Special features 27 5 Technical data 33 ...

Страница 3: ...oughout 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 determine wh...

Страница 4: ...y technical personnel who are appropriately trained and authorized by the operator of the facility may assemble the device and set up its electrical connections 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 maintenance repai...

Страница 5: ...and DeviceNet 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 equipment fillin...

Страница 6: ... a Binder series 715 B coded round 5 pin plug for PSE and PSS devices or a 5 pin Harting plug with protective sleeve HAN4A for the PSE34xx devices is located in the housing cover of the PSx3xxDN A series 713 A coded 5 pin round socket and 5 pin plug are provided for connecting the CAN bus A Binder series 718 4 pin plug is used to connect the jog keys optional Connector for supply to motor Round pl...

Страница 7: ...vice address and baud rate Removing the protective cap provides access to two rotary switches for setting the device address at the bus and a 2 pin sliding switch for setting the baud rate The rotary switches indicate the tens and ones places of the address selected If the switches are resting in positions between 64 and 99 the address is set using DeviceNet PSE object class 100 instance 1 attribu...

Страница 8: ...125 kBaud OFF ON 500 kBaud 250 kBaud ON OFF 250 kBaud 500 kBaud ON ON baud rate is set via bus default 125 kBaud If the device names are given without the diameter of the output shaft 8 14 the relevant information is valid for all offered output shafts applies throughout the document x in the device name stands for a number in the range 0 9 xx in the device name stands for a number in the range 10...

Страница 9: ...op mode is used primarily for moving the small distances involved in fine adjustments In this case each position is approached directly This does NOT eliminate any play present in the spindle in question The PSx3xxDN internal gear backlash does not play a role in this case as position data are acquired directly at the output shaft Runs which involve specifically a block run e g reference runs on b...

Страница 10: ...given in increments at a resolution of 0 5 mm 20 1000 16 bit yes 40 R W positioning window 6 permissible difference between target and actual values for position reached bit The maximum value that can be set changes according to the same factor as the resolution 1 100 16 bit yes 2 R W actual value assessment numerator 16 These values can be used to set a desired user resolution to the drive For a ...

Страница 11: ...g run 27 value in msec 50 500 16 bit yes 200 R W length of loop 31 minimum number of increments 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 32 value in rpm see table 16 bit yes see table R W maximum rpm clockwise 33 value in rpm see table 16 bit yes se...

Страница 12: ...tart initial reference loop Bit 8 jog run to larger values Bit 9 jog run 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 37 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...

Страница 13: ...idle period 46 idle period in msec when reversing the direction of rotation 10 10000 16 bit yes 10 R W actual rpm 48 value in rpm 16 bit no R maximum torque 49 maximum torque occurring during the most recent run start phase during which the maximum start up torque applies see attr 24 25 and the phase when the drive is braking down are not considered value in cNm 16 bit no R actual torque 51 value ...

Страница 14: ...riting 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 finished successfully 0 saving is still in progress or is finished incorrectly the time for saving is up to 100 msec 1 2 or 1 16 bit no R W control word bit 0 80 manual run to larger values 0 1 8 bit no R W control word bit 1 81 manual run ...

Страница 15: ... word bit 7 103 temperature exceeded 0 1 8 bit no R status word bit 8 104 movement opposite loop direction 0 1 8 bit no R status word bit 9 105 error 0 1 8 bit no R status word bit 10 106 positioning error block 0 1 8 bit no R status word bit 11 107 manual displacement 0 1 8 bit no R status word bit 12 108 incorrect target value 0 1 8 bit no R status word bit 13 109 motor power was missing 0 1 8 b...

Страница 16: ...ange of value Delivery State target rpm posi 18 15 230 230 10 150 150 3 70 70 20 200 170 10 100 85 5 45 45 target rpm hand 19 15 230 80 10 150 50 3 70 20 20 200 80 10 100 40 5 45 22 max rpm counter clockwise 32 15 230 230 10 150 150 3 70 70 20 200 170 10 100 85 5 45 45 max rpm clockwise 33 15 230 230 10 150 150 3 70 70 20 200 170 10 100 85 5 45 45 acceleration 155 97 600 600 50 400 400 23 130 130 ...

Страница 17: ...4 2 125 125 10 250 250 50 600 600 10 250 250 20 500 500 80 960 960 max holding torque 43 0 90 30 0 150 50 0 300 100 0 100 35 0 200 70 0 450 150 max holding torque at end of run 15 3 0 180 60 0 300 100 0 600 200 0 200 70 0 400 140 0 900 300 number of braking free steps 14 7 1 50 4 1 50 4 1 50 3 1 50 4 1 50 4 1 50 3 Device model PSE 3110 14 3125 14 3410 14 Name Attri bute No target rpm posi 18 1 30 ...

Страница 18: ...SxxxDN is UCMM capable the only way to communicate with the device is through a UCMM compliant connection The PSxxxDN only supports the 8 8 body format which means that the UCMM request parameters are fixed as follows Source MAC ID address of the master Service code 0x4B Requested message body format 0 Group select 3 Source message ID 0 The PSxxxDN will then confirm the connection request whereby ...

Страница 19: ...hout master acknowledge Setting up an I O connection first requires the use of an explicit connection to allocate the desired I O connection the corresponding identifiers are then reserved and the connection is set to configuring status The next step is to set the expected packet rate after which point the I O connection will be in place The expected packet rate is always attribute 9 for a given i...

Страница 20: ...ent settings for each type of I O connection are recorded in the connection object class ID 5 instance 0 attr 100 104 The following provides possible settings and default values Name Attr No Function Range of values Back up Delivery state R W select input_poll 100 assembly instance that the device uses when establishing a poll connection for sending messages to the master i e for a poll response m...

Страница 21: ...et value This bit is reset after transferring a target position if the difference from the actual value is larger than the positioning window PSE object class 100 instance 1 attribute 6 by a manual run if an invalid target value has been transferred if rotated manually when on standstill Bit 1 drag error This bit is set if after the acceleration phase the maximum speed setting has not been achieve...

Страница 22: ...ing 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 the initial reference loop Bit 9 error This bit is set if an internal problem is detected when calculating a position No run commands except the initial reference loop can be executed when the error bit is set This bit is r...

Страница 23: ...yond the limit if while on standstill by means of an external force the drive is moved to a position which is outside the area which is defined by the range limits This bit is reset by initiating a positioning run an initial reference loop or a manual run i Detailed description of control bits Bit 0 manual run to larger values Bit 1 manual run to smaller values Bit 2 transfer target value When tra...

Страница 24: ... 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 attribute 146 Within this time the brake should move towards its working position in this position of the brake the motor can move freely After this waiting time the motor moves a certain distance in bo...

Страница 25: ...duplicate MAC ID check message ID 0x5FF The message contains the serial number and production date Establish the UCMM connection 781 3F 4B 00 30 Set the expected packet rate to 0 within 10 sec 601 3F 10 05 05 09 00 00 Set the target value to 5000 fragment 1 601 BF 00 10 64 01 01 88 13 Set the target value to 5000 fragment 2 601 BF 81 00 00 Set the control word to 0x14 601 3F 10 64 01 24 14 00 The ...

Страница 26: ...ce will immediately proceed to the new target This will occur with no interruption provided 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 slow run and the operator may proceed with the manual run The following sequence of steps is also possible Starting condition r...

Страница 27: ...able rate of speed falls below the threshold parameter 30 of the selected maximum speed attr 26 for longer than 200 ms attr 27 the device detects blocking aborts the run and sets the positioning error bit here the default values are given New run commands can then be transmitted with no further steps to take An exception is if the run should go to the same target than before In this case deassert ...

Страница 28: ...ition 101200 then close the collar The drive is now capable of moving 250 rotations 100000 increments by default to the left resp bottom 2 Mount the drive in any position on the axle close the collar then adjust the positioning range with the help of attr 40 Attr 40 defines the upper end of the positioning range By default the upper end is at 256 rotations position 102400 If the positioning range ...

Страница 29: ...tr 31 8 In order to save the settings permanently in the EEPROM write 1 to attr 79 As soon as reading of attr 79 shows 0 the saving is finished Referencing value attr 4 The referencing process affects all transferred values i e the target value actual value upper mapping end and upper and lower limit There are two ways of setting the referencing value 1 Directly by writing the referencing value to...

Страница 30: ... advance and used for initiating the positioning run Poll I O and bit strobe I O may be considered for this connection Another option would be to set up a change of state cyclic connection with master acknowledge and an expected packet rate greater than 0 In this case the run could be aborted regardless of how the positioning run had been initiated i e even when using an explicit connection g Opti...

Страница 31: ...ly separated from the internal voltage source of the drive GND pin 4 must be connected Jog runs without external keys Jog runs are also possible without external keys For this purpose bit 8 jog run to larger values and bit 9 jog run to smaller values are provided these bits simulate the pressing of the corresponding external keys Requirement Bits 4 and 5 of the control word have to be reset h Devi...

Страница 32: ...orque attr 20 and the maximum start up torque attr 24 to max 10 of the nominal torque set the maximum holding torque attr 43 and the maximum holding torque at end of run attr 153 to 0 set the rpm limit for aborting run attr 26 to 60 set the time elapsed until speed falls below rpm limit for aborting run attr 27 to 100 The span of time in which the drive trys to get over the block decreases With th...

Страница 33: ...x33xDN 35 W with 30 duty cycle PSE34xxDN 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 15 A nominal current motor PSx30xDN PSx31xDN PSE31xxDN 2 2 A PSx32xDN PSx33xDN 3 0 A PSE34xxDN 7 8 A positioning resolution 0 9 positioning accuracy 0 9 CAN protocol DeviceNe...

Страница 34: ...th adjustable collar PSE31xxDN 14 PSE34xxDN 14H7 hollow shaft with clamp and feather key PSS3xxDN 8 PSW3xxDN 8 8H9 hollow shaft with adj collar or 8h8 solid shaft PSS3xxDN14 PSW3xxDN 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 ...

Страница 35: ...PSx3xxDN Instruction Manual 35 ...

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