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Instruction Manual PSE2xxDN

23

3 Sequence of positioning

a) Positioning run

- In order to control the drive using I/O connections, you must first establish an explicit

connection using the UCMM; this connection is then used to allocate and configure
the desired I/O connection.

- Transfer target value:

- Poll I/O message with control word 14h and target value
OR
- If release has not been set in the control word: set target value explicitly (using the

PSE object; class 100, instance 1, attribute 1); bit-strobe message, bit is set.

OR
- If release has been set in the control word: set explicit target value (using the PSE

object; class 100, instance 1, attribute 1).



Drive begins run.

- Aborting a run by withdrawing release:

- Poll I/O with control word 0
OR
- Bit strobe; bit is reset
OR
- Control word set explicitly to 0

- If a new target value is transferred during a positioning run, the device 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:
- release has not been set
- Target value has already been transferred (in case of poll I/O transfer the release in

the control word was not set already)

Set release: drive begins run

b) Positioning run without a reference loop

The sequence corresponds to that of a positioning run with a 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

- Transfer manual run:

- Poll I/O with control word 11h or 12h
OR
- Set control word explicitly to 11h or 12h (using the PSE object; class 100, instance

1, attribute 36)



Drive begins run.

- End manual run by withdrawing manual run:

- Poll I/O with control word 10h

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Содержание PSE2DN Series

Страница 1: ...E2xxDN halstrup walcher GmbH Stegener Stra e 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...

Страница 2: ...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 addr...

Страница 3: ...ble 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 provid...

Страница 4: ...tor 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 f...

Страница 5: ...ng 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...

Страница 6: ...ected 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 P...

Страница 7: ...address i e the switch setting is 64 this value cannot be changed via DeviceNet The yellow LED represents the state of the motor supply voltage the red and green LEDs represent the DeviceNet state Sw...

Страница 8: ...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...

Страница 9: ...The maximum value that can be set changes according to the same factor as the resolution 1 100 16 bit yes 5 R W actual value assessment numerator 16 These values can be used to set a desired user reso...

Страница 10: ...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...

Страница 11: ...o 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...

Страница 12: ...rotation 5 8 rotations is the default value see attr 31 0 or 1 8 bit yes 0 R W idle period 46 idle period in msec when reversing the direction of rotation 10 10000 16 bit yes 10 R W actual rpm 48 val...

Страница 13: ...n positioning to target value 0 if singleturn or to the middle of the measurement range if multiturn A different CAN address or baud rate is only active after reset or reset communication writing 1 sa...

Страница 14: ...bit 6 102 drive is running 0 1 8 bit R status word bit 7 103 temperature exceeded 0 1 8 bit R status word bit 8 104 movement opposite loop direction 0 1 8 bit R status word bit 9 105 flash memory or...

Страница 15: ...te target rpm posi 18 6 60 50 6 30 25 6 120 100 6 60 50 target rpm hand 19 6 60 15 6 30 8 6 120 30 6 60 15 max rpm counter clockwise 32 6 60 50 6 30 25 6 120 100 6 60 50 max rpm clockwise 33 6 60 50 6...

Страница 16: ...der to keep the connection active Otherwise this value must be changed a value of 0 deactivates the monitoring function Explicit messages may be sent to the device from now on whereby the correspondin...

Страница 17: ...that must elapse before a change of state event actually triggers an I O message should be set prior to establishing this type of connection Only then should the EPR be set e Mapping I O assemblies Th...

Страница 18: ...ce uses when establishing a bit strobe connection for sending messages to the master i e for a bit strobe response message 101 8 bit no 101 R W select output_bit strobe 103 assembly instance that the...

Страница 19: ...has not been achieved This bit is reset with each new run command Bit 2 reserved Bit 3 reserved Bit 4 motor power present This bit is set if the supply voltage to the motor is above the Umot limit PS...

Страница 20: ...w positioning command after an initial reference loop has been executed correctly Bit 11 manual displacement This bit is set if while on standstill the drive is turned externally by more than the valu...

Страница 21: ...bit is activated for a longer time Single increments are the only option in jog run mode if this bit is reset Bit 4 Release Run commands will only be executed if this bit is set exception is the jog r...

Страница 22: ...eserved must be programmed to 0 j Quick test for checking the drive and the DeviceNet interface Switch device off Set device address to 63 Set baud rate selector switch to 125 kBaud Connect both plugs...

Страница 23: ...ill 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 th...

Страница 24: ...eshold 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...

Страница 25: ...n the increment and position values With the help of the referencing value a shift can be reached with the help of the actual value assessment numerator and denominator a stretching or distension can...

Страница 26: ...with opened collar to the position value which belongs to the physical position of the axle only then close the collar Examples a Move the axle in middle position then move the drive at no load with...

Страница 27: ...f loop attr 31 are re calculated 6 When changing the referencing value attr 4 the target value the actual value the upper mapping end and the upper and lower limit are re calculated 7 If the user want...

Страница 28: ...e master is interrupted during a positioning run the master cannot abort a run that is already underway Automatically aborting a run in this case requires an I O connection with an expected packet rat...

Страница 29: ...should be the following 1 Before commanding the reference run the following settings have to be carried out set the maximum torque attr 20 and the maximum start up torque attr 24 to max 10 of the nomi...

Страница 30: ...ty cycle supply voltage 24 VDC 10 advice use regulated power supplys nominal current control unit 0 1 A nominal current motor 0 7 A positioning resolution 0 9 positioning accuracy 0 9 CAN protocol Dev...

Страница 31: ...no mechanical 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...

Страница 32: ...Instruction Manual PSE2xxDN 32 6 Dimension drawings...

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