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Functions

 

 

 

 

7100.006434_Bus description_PSD4xx_IO_J_ENG 

55 

2022-09-13 

3.11. 

Changeover of parameter set 

(Available from firmware V19 

for variants with the feature “software modules” = “S” or “Z”) 

Some parameters that have an influence on the execution of a positioning run are stored in the 
device in four instances. The associated ISDUs have 4 sub-indices, resulting in a total of four run 
sets. Values with the same sub-

index are thus combined in a “parameter set”. 

The desired run set is selected using bits 8 and 9 of the command byte: 

- 

Bits 9..8 = 0x00 

 Run set 1 (Sub-index 1) 

- 

Bits 9..8 = 0x01 

 Run set 2 (Sub-index 2) 

- 

Bits 9..8 = 0x02 

 Run set 3 (Sub-index 3) 

- 

Bits 9..8 = 0x03 

 Run set 4 (Sub-index 4) 

The following parameters are included in the changeover of parameter set feature, i.e. switching 
the run set causes the values from the corresponding sub-index to be applied immediately (i.e. 
either during a current positioning run or, at the latest, during the next positioning run) for the 
following ISDUs: 

-  ISDU 123: Positioning window 
-  ISDU 137: Target speed for positioning runs 
-  ISDU 138: Target speed for manual runs 
-  ISDU 139: Acceleration 1 
-  ISDU 141: Deceleration 1 
-  ISDU 143: Speed limit for run abort 
-  ISDU 147: Max. start-up current *) 
-  ISDU 148: Max. operating current 
-  ISDU 149: Max. holding current at end of run  
-  ISDU 150: Max. holding current 
-  ISDU 154: Time elapsed until speed falls below speed limit for run abort  
-  ISDU 155: Time period for start-up current *) 
-  ISDU 157: Duration of max. holding current at end of run 

The run set can also be changed while a positioning run is in progress, e.g. the target speed or 
operating current can be adjusted to new conditions without having to execute an ISDU request 
(e.g. in the event of a load change). Usually, the run sets are stored once in the EEPROM of the 
device or transferred to the device when communication is established before the first run 
command. 

If the parameter set is changed during an ongoing positioning run, changes to the parameters 
marked with *) only become effective during the next positioning run. Changes to all other 
parameters are already effective during the ongoing positioning run. 

Note:

 In the case of variants without the changeover of parameter set feature (i.e. 

variants with the feature “Software modules” = “1”, “M” or “P”), bits 9..8 have no function 
and are ignored by the device. 

 

 

Содержание PSD4 Series

Страница 1: ...Bus description PSD4xx positioning system IO Link...

Страница 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...

Страница 3: ...General 7100 006434_Bus description_PSD4xx_IO_J_ENG 3 2022 09 13 Table of contents...

Страница 4: ...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 techn...

Страница 5: ...assembly 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...

Страница 6: ...e search for PSD and select your type click on Instruction manuals and download the connector and pin assignment offered for your bus system 1 2 Grounding the drive The device must be grounded before...

Страница 7: ...The following LEDs are located under the sealing plug Green LED gn RUN LED in accordance with IO Link Off IO Link communication not available 90 on 10 off IO Link communication available Yellow LED ye...

Страница 8: ...3 Sub 14 Sub 15 Sub 16 Master command Master cycle time Minimum cycle time Telegram capability IO Link version ID Process data length input Process data length output Manufacturer ID 1 Manufacturer ID...

Страница 9: ...lock Local user interface lock Reserved 16 bit Yes 0 R W Name of manufacturer 16 halstrup walcher GmbH String R Manufacturer text 17 www hwg eu String R Product name 18 Dependent on device type e g P...

Страница 10: ...oggle bit Reserved Motor power present Positioning run aborted Drive is running Temperature exceeded Movement opposite loop direction Error Positioning error block Manual displacement Incorrect target...

Страница 11: ...o be referenced to the transferred value Writing is only possible when stationary 31 bit No R W Actual current 69 Actual current in mA 16 bit R Max actual current during last run 70 Max actual current...

Страница 12: ...e version 79 Software version number 16 bit R Number of steps in second positioning 82 Number of steps that the drive moved in the second positioning Thus it can be evaluated if there was a step loss...

Страница 13: ...Available additional functions 85 The value indicates which additional functions are available The individual bits indicate the availability of a certain additional function If the bit is set the cor...

Страница 14: ...n to smaller values Transfer target value When transferring the target value with the aid of process data the target value is accepted only if this bit is set Release the axis is only driven when the...

Страница 15: ...J_ENG 15 2022 09 13 Designation ISDU no Function Range of values Back up Delivery state R W Run commands Target value 112 Target position Value in 1 100 mm for default values of numerator ISDU 116 and...

Страница 16: ...or a numerator factor of 400 the spindle pitch resolution is stated in the denominator factor e g spindle pitch 1 5 mm with resolution 1 100 mm numerator 400 denominator 150 Writing is only possible w...

Страница 17: ...position 4 029 rotations For models with an auxiliary gearbox the range of values is reduced in accordance with the gear ratio see chapter 3 3 Ineffective in modulo mode Writing is only possible when...

Страница 18: ...ed in accordance with the gear ratio see chapter 3 3 Ineffective in modulo mode 31 bit Yes See chap 3 3 R W Positioning window 123 Permissible difference between target and actual values for the posit...

Страница 19: ...the direction of the loop positive loop run to larger values negative loop run to smaller values Value range for standard settings of numerator ISDU 116 and denominator ISDU 117 4 000 10 steps and 10...

Страница 20: ...al runs 138 Maximum target speed to be used for manual runs Value in rpm See chap 3 3 16 bit Yes See chap 3 3 R W Acceleration 1 139 Value in rpm per second See chap 3 3 16 bit Yes See chap 3 3 R W De...

Страница 21: ...chap 3 3 R W Maximum operating current 148 in mA See chap 3 3 16 bit Yes See chap 3 3 R W Max holding current at end of run 149 in mA See chap 3 3 16 bit Yes See chap 3 3 R W Maximum holding current...

Страница 22: ...n 157 Value in ms 0 1000 16 bit Yes 200 R W UMot filter 161 Average time for UMot voltage measurement in steps of 1 ms 100 1000 16 bit Yes 100 R W Communi cation timeout 162 Value in ms If the value i...

Страница 23: ...values with blocking zone 0 5 8 bit Yes 0 R W Upper modulo position 185 Highest position of the modulo range When this position is reached the actual position jumps to the value lower modulo position...

Страница 24: ...start up reference loop and without positioning in the middle of the measurement range Writing a 1 Resets all parameters to the delivery states without saving the parameters in EEPROM The drive then p...

Страница 25: ...rent position a denominator numerator Default value 806 400 806 400 198 498 806 400 806 400 Upper limit 121 Min value upper mapping end a denominator numerator Max value upper mapping end 1200 denomin...

Страница 26: ...403 413 8H 14H PSD 422 432 8V PSD 422 432 8H 14H Name ISDU no Range of values Delivery state Max operating current 148 5 2000 750 5 2000 750 5 2000 750 5 4000 1500 5 4000 1500 Max holding current at e...

Страница 27: ...pper mapping end 1200 denominator numerator Default value 387 600 254 800 195 483 805 200 805 200 197 298 Variable a for formula see above 120 122 776 400 510 800 392 166 1 611 600 1 611 600 395 797 T...

Страница 28: ...ta has been placed before the Command Byte and Target Position This makes it possible for some Control Units to continue to use function blocks that have already been developed and if necessary to add...

Страница 29: ...ual run if an invalid target value has been transferred as a result of manual rotation when not in operation Bit 1 Reserved Bit 2 Toggle bit This bit is set if bit 13 of the command byte is set This b...

Страница 30: ...dle is not yet eliminated during manual runs in the direction opposite that of the positioning run a subsequent manual run in the direction of the positioning run will no longer delete this bit during...

Страница 31: ...outside the range of the limit switches caused e g by the current referencing value ISDU 119 if a transferred target value lies within the range of the limit switches but would leave the specified ra...

Страница 32: ...if a 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 defined by the limit switches by an external force This b...

Страница 33: ...sitioning run can be carried out to the target value last transferred and 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 This bit m...

Страница 34: ...eceived the drive writes the value of this bit in status byte bit 2 The control unit can recognize when new process data are processed by the drive Bit 14 Error Acknowledge with a 0 1 edge of this bit...

Страница 35: ...a standstill Note If a manual run is required during an active positioning run the drive must be stopped reset the release bit The manual run can be started when the drive is at a standstill The foll...

Страница 36: ...it will first reverse by 5 8 of a rotation 3a After reaching the target position this position is compared with the internal absolute encoder position If the deviation is more than 0 9 at the motor s...

Страница 37: ...oduced by the driven spindle is NOT eliminated For models with an integrated auxiliary gearbox in this case also the internal gear backlash does influence the positioning accuracy 4 2 3 Manual run The...

Страница 38: ...un command is rejected and bit 12 in the status word Incorrect target value is set In this case a currently active run is aborted For all runs the maximum acceleration from ISDU 139 and the maximum de...

Страница 39: ...in the control word is set and ISDU 126 is set to 1 it will again attempt to run to the previously sent target value readjustment The device does not attempt to readjust if rotated in the direction t...

Страница 40: ...pindle into the desired position run the drive to the appropriate position with the adjustable collar open and only then close the adjustable collar Examples a Bring the axle to be positioned into the...

Страница 41: ...upper mapping end 2 The numbers of increments or position values indicated relate to the following settings which correspond to the delivery state a Referencing value ISDU 119 0 b Actual value of num...

Страница 42: ...h the referencing value ISDU 119 a shift of the entire value range can be achieved The referencing process affects all transferred values i e the target value actual value upper mapping end and upper...

Страница 43: ...e PSD 401 411 422 432 480 490 PSD 403 413 481 491 PSD 424 434 PSD 426 436 PSD 428 438 Measurement range of the absolute measuring system 4 032 rotations 992 rotations 1 944 rotations 1 280 rotations 9...

Страница 44: ...e entire possible positioning range is at values 0 With standard scaling numerator denominator 400 i e 1 step 0 9 and referencing value 0 this special case results if the relevant value from the follo...

Страница 45: ...s using the parameter upper mapping end example for a PSD401 411 PSD422 432 or PSD480 490 Here the upper mapping end was decreased from the value 806 400 to 581 200 Consequently a higher proportion of...

Страница 46: ...m 4 032 rotations 992 rotations 1 944 rotations 1 280 rotations 983 rotations Max possible positioning range 4 026 rotations 986 rotations 1 938 rotations 1 274 rotations 977 rotations Upper mapping e...

Страница 47: ...ry gearbox the measurement range at the output shaft is reduced accordingly Together with the safety margins at the upper and lower end of the measurement range the following value ranges result for t...

Страница 48: ...safety margin of three rotations at both ends of the measurement range In our case these 4 026 rotations are to be divided in such a way that the drive can run 10 rotations 10 5 000 steps 50 000 steps...

Страница 49: ...of rotation of the output shaft the position values decrease 2 Setting numerator and denominator The numerator and denominator determine the number of steps into which one rotation of the output shaf...

Страница 50: ...ping end The parameter defines the location of the maximum possible positioning range in relation to the actual position 5 Setting upper and lower limits If necessary the maximum possible positioning...

Страница 51: ...Numerator factor 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 is a simple way to set the spindle pitch and r...

Страница 52: ...he turntable The distance after which the arrangement is back in the initial state is called the modulo width The modulo width is determined by specifying the parameters Upper modulo position and Lowe...

Страница 53: ...actual value jumps to the value Upper modulo position 1 The maximum run distance corresponds to the distance Modulo width 1 3 Shortest distance In this mode the device selects the direction required...

Страница 54: ...t is performed in modulo mode Manual run in modulo mode When modulo mode is activated i e modulo mode 0 the drive moves exactly one modulo width starting from the actual position This applies regardle...

Страница 55: ...SDU 138 Target speed for manual runs ISDU 139 Acceleration 1 ISDU 141 Deceleration 1 ISDU 143 Speed limit for run abort ISDU 147 Max start up current ISDU 148 Max operating current ISDU 149 Max holdin...

Страница 56: ...run as planned It should then not start any new positioning run until a connection has been re established This response is activated when ISDU 162 Communication timeout is set to 0 2 If a positioning...

Страница 57: ...o 100 The time 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 lon...

Страница 58: ...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...

Страница 59: ...alcher com www halstrup walcher com 5 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 s...

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