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halstrup-walcher PSD4 Series Instruction Manual

Bus description positioning system – canopen
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Bus description
PSD4xx positioning system – CANopen

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Summary of Contents for halstrup-walcher PSD4 Series

  • Page 1 Bus description PSD4xx positioning system – CANopen...
  • Page 2 General halstrup-walcher GmbH Stegener Straße 10 79199 Kirchzarten Tel. +49 7661 39 63-0 info@halstrup-walcher.com www.halstrup-walcher.com © 2020, Kl The manufacturer owns the copyright to this instruction manual. It contains technical data, instructions and drawings detailing the device’s features and how to use them. It must not be copied either wholly or in part or made available to third parties.

  • Page 3: Table Of Contents

    General Table of contents General ......................4 Start-up ......................5 Set the device address ................6 Set the baud rate ..................7 CAN terminating resistor ................8 Switch the device on .................. 9 Description of CANopen .................. 10 Status LEDs ....................10 Table of entries implemented from object dictionary......

  • Page 4: General

    General General This bus description is to be used for the commissioning and integration of the drive 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/technicaldocu 7100.006424_Bus description_PSD4xx_CA_H_ENG...

  • Page 5: Start-Up

    Start-up Start-up WARNING Risk of injury if used inappropriately. The device must be installed by trained technical personnel. WARNING Risk of burns due to hot drive. The drive can become very hot during operation. Allow the drive to cool before touching it. WARNING Risk of crushing due to rotary movement.

  • Page 6: Set The Device Address

    Start-up Set the device address You can assign a unique device address using the address switch. Note: If these address switches are set to 00, the address can be set via the CAN bus with SDO #2026. The device controls and status elements are located under the sealing plug. You will need a non-conducting pointed object to adjust the switches (e.g.

  • Page 7: Set The Baud Rate

    Start-up Set the baud rate You can set the baud rate using the sliding switches S2-S4 (DIP switch 2-4). The device controls and status elements are located under the sealing plug. You will need a non-conducting pointed object to adjust the switches. Please refer to the following table to find the correct baud rate settings and adjust the sliding switches S2-S4 (DIP switch 2-4) accordingly: Table: Baud rate:...

  • Page 8: Can Terminating Resistor

    Start-up Note: If at least one sliding switch S2-S4 is ON, the baud rate cannot be changed via the CAN bus. CAN terminating resistor You can use the sliding switch S1 (DIP switch 1) to set the CAN terminating resistor (120 Ω). Note: For a line topology, the bus termination is at both ends of the network.

  • Page 9: Switch The Device On

    Start-up Switch the device on To turn on the PSD4xx, install the PSD in the correct position according to the assembly instructions. You can find information about installing the drive as well as electrical connections and pin assignments at the following link: www.halstrup- walcher.de/technicaldocu Grounding screw...

  • Page 10: Description Of Canopen

    Description of CANopen Description of CANopen The CAN bus interface uses the CANopen protocol in accordance with CiA DS 301 Version 4.02: One transmit and one receive SDO per device One asynchronous transmit and receive PDO, active by default One heartbeat object every 500 ms Status LEDs The following LEDs are located under the sealing plug: Green LED (gn) = RUN LED in accordance with CANopen:...

  • Page 11: Table Of Entries Implemented From Object Dictionary

    Description of CANopen Motor voltage OK Flashing at 0.5 Hz Motor voltage OK and drive in the delivery state (for parameter values and axle positions) Table of entries implemented from object dictionary Designation Index Function Range Back Delivery state values Returns a “0”...
  • Page 12 Description of CANopen Designation Index Function Range Back Delivery state values Identity 1018 Sub index 0: No. of indices (= 4) 8 bit Sub 1: Vendor-ID (= 0x000002D8) 32 bit Sub 2: Product code 32 bit (= 0x30313334) Sub 3: Revision number (= 0) 32 bit Sub 4: Serial number (= 0) 32 bit...
  • Page 13 Description of CANopen Designation Index Function Range Back Delivery state values 2000: 10 open registers 32 bit 0...9 31 bit Target value 2001 Target position Value in 1/100 mm (for default values of counters, SDO #2010 and denominator SDO #2011) 31 bit Actual value 2003...
  • Page 14 Description of CANopen Designation Index Function Range of Back Delivery values state Actual 2010 These values allow you to apply any 1... value resolution to the drive that you wish. 10000 assess- For a numerator factor of 400, the 16 bit ment, spindle pitch/resolution is stated in numerator...
  • Page 15 Description of CANopen Designation Index Function Range of Back Delivery values state Rpm limit for 201A Value in % of the target rpm 30...90 16 bit aborting run Time Value in msec 50...500 201B 16 bit elapsed until speed falls below rpm limit for aborting run...
  • Page 16 Description of CANopen Designation Index Function Range Back Delivery state values Control word 2024 Bit 0: Manual run to larger 16 bit values Bit 1: Manual run to smaller values Bit 2: Assign target value (when transferring a target value with PDOs, the positioning run is only started if this bit is set.)
  • Page 17 Description of CANopen Designation Index Function Range of Back Delivery values state Baud rate 2027 0: 20 kBaud 4: 500 kBaud 0...6 1: 50 kBaud 5: 800 kBaud 16 bit 2: 125 kBaud 6: 1000 kBaud 3: 250 kBaud If the baud rate switch is in use (i.e.
  • Page 18 Description of CANopen Designation Index Function Range of Back Delivery values state UMot limit 203C Voltage limit for motor power bit 180...240 (in 0.1 V) 16 bit Umot filter 203D Average time for measuring 100... Umot voltage; given in 5 msec 1000 increments 16 bit...
  • Page 19 Description of CANopen Designation Index Function Range Back Delivery state values Writing a “-5”: Delivery 204F -5…1 state Resets the drive (corresponds to or 1 switching the drive off and on ±15 bit again) Writing a “-4”: Resets all parameters to the delivery states (CAN address SDO #2026 to 1, baud rate SDO #2027 to 500 kBaud),...
  • Page 20 Description of CANopen Writing a “-1”: Delivery state Resets all parameters to the delivery states (without changing the CAN address and baud rate), without saving the parameters in EEPROM. The drive then performs a start-up loop and positions itself in the middle of the measurement range.

  • Page 21: Table Of Device-Dependent Min., Max. And Default Values

    Description of CANopen Table of device-dependent Min., Max. and Default values Note: The operating current setting is optimised for the nominal rated speed of the respective device model. The more the set speed deviates from the nominal rated speed (rpm), the greater the actual power consumption deviates from the set current value.
  • Page 22 Description of CANopen Device type PSD426 / 436 PSD428 / 438 -14H -14H Name Range of values Delivery state Upper Limit *) 2016 254.800 195.483 Lower Limit *) 2017 -254.800 -195.483 1…317 1…250 Target rpm for 2012 positioning run 1…317 1…250 Target rpm, 2013...

  • Page 23: Define Pdos

    Description of CANopen Define PDOs 1) Receive PDO (from the perspective of the PSD4xx) Address: 200h + CAN address (possible values: 201h...27Fh) Assignment (cannot be modified): Byte Meaning Corresponding SDO index number 0-15 Control word 2024h 16-31 Unused 32-63 Target value 2001h 2) Transmit PDO (from the perspective of the PSD4xx) Address: 180h + CAN address (possible values: 181h...1FFh)
  • Page 24 Description of CANopen Bit 2: Togglebit This bit is set: - if bit 13 of the control word is set This bit is reset: - if bit 13 of the control word is reset Bit 3: Reserved Bit 4: Power supply to motor available This bit is set: - if the supply voltage for the motor is above the Umot limit (SDO #203C) and under 30V...
  • Page 25 Description of CANopen Bit 8: Run in opposite direction to loop This bit is set: - after turning on or a reset (any spindle backlash is not 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 a positioning sequence in the direction opposite to that of the...
  • Page 26 Description of CANopen - after a start-up loop has been correctly executed Bit 12: Incorrect target value This bit is set: - if a transferred target value lies outside the range of the limit switches, caused e.g. by the current reference value (SDO #2004) - if a transferred target value lies within the range of the limit switches, but would leave the specified range during the required loop This bit is reset:...

  • Page 27: Detailed Description Of Control Bits

    Description of CANopen Detailed description of control bits Bit 0: Manual run to larger values Bit 1: Manual run to smaller values Bit 2: Send target value: when transferring a target value with the aid of PDOs, a positioning run is only started if this bit is set. Bit 3: reserved, must be set to 0 Bit 4:...

  • Page 28: Functions

    Functions Functions Types of positioning 4.1.1 Positioning run with loop The PSD4xx distinguishes between the following cases of a positioning sequence (Assumption: the target position is always approached through forward motion) New position value is larger than the current value: position approached directly. Target Actual New position value is smaller than the current value: the drive reverses an...

  • Page 29: Manual Run

    Functions The PSD4xx internal gear backlash does not play a role in this case, as position data are acquired directly at the output shaft. Note: This does NOT eliminate any lash present in the driven spindle. For variants with integrated gearbox, in this case the internal gear backlash of the PSD4xxCA has an effect on the positioning accuracy.

  • Page 30: Velocity, Acceleration And Deceleration

    Functions - Release has not been set - Target value has already been transferred (in case of PDO transfer the release in the control word was not set already). - Set release:  drive begins run Velocity, acceleration and deceleration Start-up loops and manual runs are performed at the maximum velocity from SDO #2013.

  • Page 31: Response Of The Drive If It Is Turned Manually (Adjustment Function)

    Functions The exception to this is if the target value is the same as before. In this case, proceed as follows: Remove the release and reset it (bit 4 in the command byte). The drive then continues to run when the release bit is set. Bit 2 ("Transfer target value") must also be set. ATTENTION Runs which intentionally involve a run to an obstruction (e.g.

  • Page 32: Calculate The Absolute Physical Position

    Functions Calculate the absolute physical position The PSD4xx actuator includes an absolute measuring system capable of covering a range of 4026 rotations. This allows the user to determine the direction of rotation for any desired portion of these 4026 rotations. The mapping of the desired positioning range to the physical positioning range “mapping end”...
  • Page 33 Functions Examples: a) After mounting the drive, the position 0 is displayed (which corresponds to the delivery state). The positioning range should point exclusively to the right (or top)  upper mapping end = Position + 4029 rotations  set SDO #2028 to 1611600. After assembly, the displayed position is 804000.
  • Page 34 Functions If the actual value assessment (numerator: SDO #2010 or denominator: SDO #2011) is changed, the target value, actual value, reference value, upper mapping end, upper and lower limit switches, positioning window and loop length will be recalculated. If the reference value (SDO #2004) is changed, the target value, actual value, upper mapping end and the upper and lower limit switches will be recalculated.

  • Page 35: Set The Spindle Pitch

    Functions Set the spindle pitch SDO #2010 (numerator factor) and #2011 (denominator factor) can be used to set any spindle resolutions using actual value assessment factors. ���������������������� ������������ ����. ���� �������������������� ������ ���������������� = 400 ∗ ������������������ ������������ 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.

  • Page 36: Reference Runs

    Functions 4.10 Reference runs The PSD4xx positioning system is equipped with an absolute measuring system, so no reference run is required when the drive is switched on. If a reference run should be required to a hard obstruction in a specific instance (e.g. once during installation of the drive on a machine), the procedure should be as follows: Prior to ordering the reference run, adjust the settings as follows: Max.

  • Page 37: Run Drive In Reverse

    -8H/14H -8H/14H -8H/14H -14H -14H Maximum permissible speed [rpm] Technical data Technical data and drawings can be found in the current data sheet on the website: www.halstrup-walcher.de/technicaldocu Please contact us if you require any further information. 7100.006424_Bus description_PSD4xx_CA_H_ENG 37 08.04.2020...

  • Page 38: Notes

    Notes Notes 7100.006424_Bus description_PSD4xx_CA_H_ENG 38 08.04.2020...
  • Page 39 GmbH Tel. +49 7661 39 63-0 info@halstrup-walcher.com Stegener Straße 10 www.halstrup-walcher.com 79199 Kirchzarten...

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