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Instruction Manual PSE2xxC

20

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 bit has not been set
- Target value has already been transferred (no release in the control word for PDO

transfer)

Set release bit: 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 counter-clockwise, 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

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Содержание PSE2 C Series

Страница 1: ...Document 7100 004304E 07 2017 Instruction Manual PSE2xxC 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 de Internet www halstrup walcher de ...

Страница 2: ...t up 4 1 3 Troubleshooting maintenance repairs disposal 4 1 4 Symbols 4 2 Device description 5 2 1 Features 5 2 2 Installation 6 2 3 Electrical connection 6 2 4 Pin assignment 6 2 5 Setting the device address and baud rate Option 7 2 6 Start up 7 2 7 CAN Bus 8 3 Sequence of positioning 20 4 Specials 20 5 Technical data 27 6 Dimension drawings 29 ...

Страница 3: ...available 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...

Страница 4: ...als They should be given proper training and be authorized 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 maintenance repairs disposal The individual responsible for the electrical connections ...

Страница 5: ...g a movement Additionally the number of turns is being loaded out of the flash memory thus after power up the correct position of the output shaft will be indicated assumed the shaft has been turned for less than half a turn while powered down Variants with absolute measuring system multiturn encoder also indicate the position of the output shaft after power up without executing a movement To dete...

Страница 6: ...cted via a clutch to avoid forces caused by tensions that result on missing alignment from bottom plate and driven shaft Never apply force to the housing cover e g for supporting weight Driving the PSE2xxC rearward is prohibited e g it s not allowed to turn the output shaft by an external force 2 3 Electrical connection Open the cover put the cable through glands and connect supply and bus to term...

Страница 7: ... address i e the switch setting is 01 this value cannot be changed via the CAN bus The yellow LED represents the state of the motor supply voltage the red and yellow LEDs represent the CANopen state Switch configurations Setting the baud rate 1 2 OFF OFF baud rate is set via bus OFF ON 250 kBaud ON OFF 500 kBaud ON ON 125 kBaud x in the device name stands for a number in the range 0 9 xx in the de...

Страница 8: ...ate any play present in the spindle in question The PSE2xxC 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 block may only be started with reduced torque max torque max 10 of the nominal torque 2 7 CAN Bus CANopen corresponding to CiA DS 301 Version 4 02 is used as ...

Страница 9: ...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 PSE2xxC 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 ...

Страница 10: ...t changes according to the same factor as the resolution 1 100 16 bit yes 5 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 valu...

Страница 11: ...it yes see table R W length of loop 201F 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 10 400 at del state 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 ...

Страница 12: ...r 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 2025 Bit 0 target position reached Bit 1 drag error Bit 2 reserved Bit 3 reserved Bit 4 motor power present Bit 5 positioning run aborted Bit 6 drive is running Bit 7 temperature exceeded Bit 8 movemen...

Страница 13: ... 5 8 reverse rotation 5 8 rotation is the default value see 201F 0 or 1 16 bit yes 0 R W idle period 202E idle period in msec when reversing the direction of rotation 10 10000 16 bit yes 10 R W actual rpm 2030 value in rpm 16 bit R maximum torque 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 wh...

Страница 14: ...e baud rate starts initial reference loop then positioning to target value 0 if singleturn or to the middle of the measurement range if multiturn writing 2 generates the delivery state sets CAN address SDO 2026 to 1 baud rate SDO 2027 to 500 kBaud starts initial reference loop then positioning to target value 0 if singleturn or to the middle of the measurement range if multiturn A different CAN ad...

Страница 15: ...50 150 10 75 75 deceleration 201D 20 150 150 10 75 75 20 150 150 10 75 75 maximum torque 2014 2 100 100 4 200 200 2 100 100 4 200 200 maximum start up torque 2018 2 125 125 4 250 250 2 125 125 4 250 250 b PDO definition 1 Receive PDO from the perspective of the PSE2xxC Identifier 200h CAN address possible values 201h 27Fh Assignment cannot be modified Bit Byte Description corresponding SDO index n...

Страница 16: ...d Bit 3 reserved Bit 4 motor power present This bit is set if the supply voltage to the motor is above the Umot limit SDO 203C This bit is reset if the supply voltage to the motor is below the Umot limit Bit 5 positioning run aborted This bit is set if a positioning run is aborted because release in the control word has been withdrawn This bit is reset when a new run command is transmitted Bit 6 d...

Страница 17: ...rive is turned externally by more than the value in the positioning window This bit is reset by transmitting a new positioning command after an initial reference loop has been executed correctly Bit 12 incorrect target value This bit is set when a transferred target value lies outside of the limit switches also caused for instance because of the actual value of the reference value SDO 2004 when a ...

Страница 18: ...s manual runs and must not be set for jog runs If this bit is cleared during a run the run will be aborted and status bit 5 will be set positioning run aborted Bit 5 reserved must be programmed to 0 Bit 6 Run without loop If this bit is set at the start of a positioning run the target will be approached directly without loop Bit 7 Start initial reference loop the device performs 5 8 of one rotatio...

Страница 19: ...tes only while accelerating and cruising with constant rpm not while decelerating The time dependent setting value for the rpm while accelerating arises out of the rpm at beginning of the positioning as well as the acceleration setting SDO 201C Bit 13 reserved must be programmed to 0 Bit 14 reserved must be programmed to 0 Bit 15 reserved must be programmed to 0 ...

Страница 20: ...un 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 tr...

Страница 21: ...rting the release bit and or the release readjustment bit can completely stop the readjustment process c Internal measuring system applys for singleturn variants The singleturn variants of the PSE2xxC actuator include a partial absolute measuring system This means that the position within one turn is measured absolute und the turns are counted These counted turns are stored in internal flash every...

Страница 22: ...ently in the EEPROM write 1 to SDO 204F As soon as reading of SDO 204F shows 0 the saving is finished Referencing value SDO 2004 The referencing process affects all transferred values i e the target value actual value and upper and lower limit There are two ways of setting the referencing value 1 Directly by writing the referencing value to SDO 2004 2 Indirectly by writing an actual value to SDO 2...

Страница 23: ... 68 rotations and 136 rotations Examples a After mounting the drive the displayed position is 13600 which corresponds the delivery state But the positioning range shall solely spread to the right resp top Set SDO 2028 to 40000 b After mounting the drive the displayed position is 26400 But the positioning range shall solely spread to the right resp top Set SDO 2028 to 52800 c After mounting the dri...

Страница 24: ... writing the referencing value to SDO 2004 2 Indirectly by writing an actual value to SDO 2003 This makes it possible to assign any true actual value to the current physical actual value The resulting difference is then the referencing value This value will immediately be included in calculations for each transferred value and can also be read via SDO 2004 When changing the referencing value autom...

Страница 25: ...lease is inactive The release of positioning runs and manual runs control word bit 4 and the control word bits for jog runs bits 8 and 9 cannot be set simultaneously Changing the control word bits while running for example from positioning run to jog run aborts a run in the other operation mode The step width for a short activation time of a jog run bit can be set via SDO 2022 Such a single step i...

Страница 26: ...peed for longer than 100ms By default these values are 30 and 200ms set the corresponding upper and lower limit SDO 2016 or 2017 in a way that the block location lays considerable within the area between the upper and lower limit Otherwise there s the danger that the block is located within the positioning window and consequently won t be recognized Where appropriate reduce the target speed for ma...

Страница 27: ...oltage 24 VDC 10 advice use regulated power supplies nominal current control unit 0 1 A nominal current motor 0 7 A positioning resolution 0 9 positioning accuracy 0 9 CAN protocol CANOpen CiA DS 301 CAN address setting via decade switch option addresses 1 99 CAN address setting via bus addresses 1 127 baud rate setting via sliding switch option 125 kBaud 250 kBaud 500 kBaud baud rate setting via ...

Страница 28: ...limits torsional rigidity angle of rotation when switching from operation without backlash to maximum torque max 0 2 gear backlash without spindle compensation run max 0 5 spindle lash compensation automatic loop after every positioning run can be switched off output shaft PSE2xxC H 8 H 9 hollow shaft with adjustable collar PSE2xxC V 8 H 8 solid shaft maximum radial force 40 N maximum axial load 2...

Страница 29: ...Instruction Manual PSE2xxC 29 6 Dimension drawings ...

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