Instruction Manual PSx3xxEC
2
Table of Contents
1
Safety precautions ......................................................................................................... 4
1.1
Appropriate use .................................................................................................... 4
1.2
Shipping, assembly, electrical 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
Disassembly ......................................................................................................... 7
2.4
Powering the device ............................................................................................. 7
2.5
Pin assignment..................................................................................................... 8
2.5.1
Supply voltage connector ..................................................................................... 8
2.5.2
Round socket for the bus ..................................................................................... 8
2.5.3
Hybrid bushing for supply and bus ....................................................................... 8
2.5.4
Connector for jog keys ......................................................................................... 9
2.5.5
Connector-option -2Y- .......................................................................................... 9
2.5.6
Electrical grounding .............................................................................................. 9
2.6
Setting the device address ................................................................................... 9
2.7
LEDs .................................................................................................................. 10
2.8
Start-up .............................................................................................................. 11
2.8.1
Positioning sequence (with loop) ........................................................................ 11
2.8.2
Positioning sequence (without loop) ................................................................... 11
2.8.3
Manual run ......................................................................................................... 12
2.9
EtherCAT interface with CoE protocol (CANopen over EtherCAT) ..................... 12
2.9.1
Table of entries implemented from object dictionary ........................................... 13
2.9.2
Table of rated speed and torque values for various models of gears .................. 18
2.9.3
PDO definition .................................................................................................... 20
2.9.4
Detailed description of the status bits ................................................................. 20
2.9.5
Detailed description of control bits ...................................................................... 23
3
Sequence of positioning.............................................................................................. 24
3.1
Positioning run (with loop) .................................................................................. 24
3.2
Positioning run (without loop) ............................................................................. 25
4
Special features ........................................................................................................... 25
4.1
Speed, acceleration and deceleration ................................................................ 25
4.2
Maximum starting torque and maximum torque .................................................. 25
4.3
Response of drive in case of block ..................................................................... 26
4.4
Response of drive in case of manual displacement (readjustment) .................... 26
4.5
Calculating the absolute physical position .......................................................... 26
4.6
Using actual value assessment factors to set the spindle pitch .......................... 29
4.7
Drag error monitoring ......................................................................................... 29
4.8
Drag error correction .......................................................................................... 29
4.9
Abort run when the master fails .......................................................................... 29
4.10
Devices with “Jog keys” option ........................................................................... 30
4.11
Devices with optional snap brake ....................................................................... 31
4.12
Devices with optional holding brake ................................................................... 32
4.13
Reference runs................................................................................................... 32
4.14
Reverse drive ..................................................................................................... 33
5
Technical Data .............................................................................................................. 34
5.1
Ambient conditions ............................................................................................. 34
5.2
Electrical data .................................................................................................... 34
5.3
Physical data ...................................................................................................... 35
6
Certificate of Conformity ............................................................................................. 36
