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halstrup-walcher PSD4 Series Bus Description

Positioning system – io-link
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Bus description
PSD4xx positioning system – IO-Link

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  • Page 1 Bus description PSD4xx positioning system – IO-Link...
  • 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 Tel. +49 7661 39 63-0 info@halstrup-walcher.com www.halstrup-walcher.com Table of contents General Start-up Description of IO-Link 3.1. Status LEDs ....................7 3.2. Table of entries implemented from object dictionary......8 3.3. Table of Min-, / Max- and Default Values ..........20 3.4.

  • Page 4: General

    This 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 7100.006434_Bus description_PSD4xx_IO_G_ENG 17.08.2020...

  • Page 5: Start-Up

    Start-up Tel. +49 7661 39 63-0 info@halstrup-walcher.com www.halstrup-walcher.com 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.
  • Page 6 To turn on the PSD4xx, install the PSD in the correct position according to the instructions in the installation manual. You can find information about installing the drive at the following link: www.halstrup-walcher.de/technicaldocu Grounding screw The PSD must be grounded before connecting it to the power supply cable. The grounding cable must be connected to the correct position on the PSD4xx and to the ground potential (e.g.

  • Page 7: Description Of Io-Link

    Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com Description of IO-Link www.halstrup-walcher.com Note: For the IO-Link interface, IEC 61131-9 Version 1.1.2 is used as the SDCI protocol 3.1. Status LEDs The following LEDs are located under the sealing plug:...

  • Page 8: Table Of Entries Implemented From Object Dictionary

    Description of IO-Link 3.2. Table of entries implemented from object dictionary Note: Reserved bits or ISDUs must be described with 0. Designation ISDU Function Range of Back Delivery values state IO-Link standard variables Direct Sub 1: Master command 8 bit parameter 1 Sub 2: Master cycle time...
  • Page 9 Bit 1: Data storage lock Local Bit 2: parameterisation lock Local user interface Bit 3: lock Reserved Bit 4..15: “halstrup-walcher GmbH” Name of String manufacturer “www.hwg.eu” Manufacturer String text Product Dependent on gearbox type, String name e.g.
  • Page 10 Description of IO-Link Designation ISDU Function Range of Back Delivery values state Status requests Status byte Bit 0: Target position 0..FFFFh reached 16 bit Reserved Bit 1: Bit 2: Toggle bit Bit 3: Reserved Motor power Bit 4: present Positioning run Bit 5: aborted Drive is running...
  • Page 11 Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com Designation ISDU Function Range Back Delivery www.halstrup-walcher.com state values Status requests (continuation) 0…1 Write actual If this parameter is set to 0 and the position subsequent write command is the 8 bit...
  • Page 12 Description of IO-Link Designation ISDU Function Range Delivery of values kup? state Status requests (continuation) Production Year and week of manufacture YYWW date (given as an integer) 16 bit Serial Device serial number 0… number 65535 16 bit Device type 78 The respective device type from the 16 bit PSD series (the last 2 digits of the...
  • Page 13 Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com Designation ISDU Function Range Back Delivery www.halstrup-walcher.com state values Run commands 0…1 Write If this parameter is set to 0 and the command subsequent write command is the 8 bit byte...
  • Page 14 Description of IO-Link Designation ISDU Function Range Back Delivery state values “Positioning values” parameter group Direction of 0: Clockwise 0 or 1 rotation 8 bit (when looking at the output shaft) 1: counter clockwise Actual value These values allow you to apply 1...
  • Page 15 Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com Designation ISDU Function Range of Back Delivery www.halstrup-walcher.com values state “Positioning values” parameter group (continuation) 31 bit Upper limit Maximum permitted target position chap.3.3 Permissible values: (upper mapping end - 1200.. 1611600 *...
  • Page 16 Description of IO-Link Designation Function Range of Back Delivery values state “Positioning values” parameter group (continuation) Readjustment 126 0 = Without readjustment 8 bit 1 = With readjustment “Speed” parameter group Target speed Max. rpm to be used for chap.3.3 chap.3.3 (rpm) for positioning runs...
  • Page 17 Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com Designation ISDU Function Range of Back Delivery www.halstrup-walcher.com values state “Time” parameter group Time elapsed Value in ms 50... 500 until speed 16 bit falls below rpm limit for aborting run 10…1000...
  • Page 18 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Other” parameter group General Freely-usable register ±31bit purpose register Voltage limit for bit “Motor power UMot limit 180...240 present” given in increments of 16 bit 0.1V Tempera- Upper temperature limit in °C 10...80 16 bit ture limit...
  • Page 19 Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com Designation ISDU Function Range of Back Delivery www.halstrup-walcher.com values state “Other” parameter group (continuation) Writing a “-5”: Delivery -5…1 state Resets the drive (corresponds (during to switching the control writing) voltage off and on again) Writing a “-3”:...

  • Page 20: Table Of Min-, / Max- And Default Values

    Description of IO-Link 3.3. Table of 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 21 Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com Device type PSD426 / PSD428 / www.halstrup-walcher.com PSD436 PSD438 - 14H - 14H Name ISDU Range of values Delivery state Upper mapping end 256.000 196.683 Upper Limit *) 254.800 195.483 Lower Limit *) -254.800...

  • Page 22: Definition Of Process Data

    Description of IO-Link 3.4. Definition of process data Process output data 6 Byte (from the point of view of the IO- master) Byte Meaning Corresponding IO-Link parameters 0..15 (16Bit) Command byte 16..47 (32Bit) 2..5 Target position 2) Process input data 8 Byte (from the point of view of the IO Link master) Byte Meaning Corresponding IO-Link...
  • Page 23 Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com - as a result of manual rotation when not in operation www.halstrup-walcher.com Bit 1: Reserved Bit 2: Toggle bit This bit is set: - if bit 13 of the command byte is set...
  • Page 24 Description of IO-Link - when the internal device temperature falls below the limit value by 5°C Bit 8: Movement opposite loop direction This bit is set: - after power up or a reset command (any backlash in the driven spindle 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...
  • Page 25 Description of IO-Link Tel. +49 7661 39 63-0 info@halstrup-walcher.com - if, while at a standstill, the drive is rotated externally by more than the www.halstrup-walcher.com value in the positioning window This bit is reset: - by transmitting a new positioning command...

  • Page 26: Detailed Description Of Control Bits

    Description of IO-Link 3.6. Detailed description of control bits Bit 0: Manual run to larger values Bit 1: Manual run to smaller values Bit 2: Transfer target value: If this bit is set, the target value sent in the same process data telegram is accepted as the new valid target value.

  • Page 27: Functions

    Functions Tel. +49 7661 39 63-0 info@halstrup-walcher.com Functions www.halstrup-walcher.com Starting a positioning run To control the drive, it must first be switched to the IO-Link state "operate". The following sequence of steps is possible: - Transfer target value: Command byte = 0x14 and desired target value ...

  • Page 28: Types Of Positioning

    Functions Types of positioning 4.2.1 Positioning run with loop The PSD4xx distinguishes between the following steps 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 Tel. +49 7661 39 63-0 info@halstrup-walcher.com Note: To perform a positioning run without a loop, in addition to setting the release (bit 4 in the command byte), you must also set bit 6 (“Run without loop”) or ISDU www.halstrup-walcher.com 124 (“Loop length”) must have the value 0.

  • Page 30: Behaviour Of The Drive In Case Of Blocking

    Functions Note: The start-up current should always be slightly higher than the operating current because the drive requires more power during the acceleration phase than when running at a constant speed. Note: If small torque limits are to be used, the following must be considered: Small operating torque values should not be used in combination with high speed settings as this can lead to an instable positioning behaviour! Behaviour of the drive in case of blocking...

  • Page 31: Calculate The Absolute Physical Position

    Functions Tel. +49 7661 39 63-0 info@halstrup-walcher.com window, no new readjustment attempt will start. This prevents a situation in which www.halstrup-walcher.com the drive suddenly starts to move when the motor voltage is switched on. If a positioning run or manual run is aborted while in progress by a stop command (“Release”...
  • Page 32 Functions c) Bring the axle to be positioned all the way to the right (or top), run the drive in neutral (with the adjustable collar open) to the largest position (position 805,200), then close the adjustable collar. The drive can now run 4026 rotations to the left (or bottom) (default ±1,610,400 increments).
  • Page 33 Functions Tel. +49 7661 39 63-0 info@halstrup-walcher.com 3) If the direction of rotation (ISDU 115) is changed, the referencing value (ISDU www.halstrup-walcher.com 119), the upper mapping end (ISDU 120) and the upper and lower limit switches (ISDU 121 and 122) will be reset to the delivery states.

  • Page 34: Set The Spindle Pitch

    Functions Note: Removal of the supply voltage to the motor has no effect on the internal measurement system. Set the spindle pitch ISDU 116 (numerator factor) and 117 (denominator factor) can be used to modify the instrument’s spindle resolutions to any desired numerical value. ����������������������...

  • Page 35: Reference Runs

    Functions Tel. +49 7661 39 63-0 info@halstrup-walcher.com 2) If a positioning run is in progress, the drive should abort this positioning run. www.halstrup-walcher.com 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 a value >...

  • Page 36: Technical Data

    8H/14H 8H/14H -8H/14H -14H -14H Max. 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. Notes 7100.006434_Bus description_PSD4xx_IO_G_ENG 17.08.2020...
  • Page 37 GmbH Tel. +49 7661 39 63-0 Stegener Straße 10 info@halstrup-walcher.com 79199 Kirchzarten www.halstrup-walcher.com...

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