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halstrup-walcher PSD4 Series Instruction Manual

Positioning system – canopen
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Bus description
PSD4xx positioning system – CANopen

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  • Page 1 Bus description PSD4xx positioning system – CANopen...
  • Page 2 General halstrup-walcher GmbH Stegener Straße 10 79199 Kirchzarten Germany Tel. +49 7661 39 63-0 info@halstrup-walcher.com www.halstrup-walcher.com © 2022, Be 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

    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 Please search for “PSD” and select your type, click on “Instruction manuals” and download the “conntector and pin assignment” offered for your bus system.

  • 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 the sliding switches S2-S4 are set to OFF, the baud rate is set via the CAN bus with SDO #2027. Note: If at least one sliding switch S2-S4 is ON, the baud rate cannot be changed via the CAN bus.

  • Page 9: Switch The Device On

    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 Please search for “PSD” and select your type, click on “Instruction manuals” and download the “conntector and pin assignment” offered for your bus system.

  • 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 Table of entries implemented from object dictionary Designation Index Function Range of Back Delivery values state Device type 1000 Returns a “0” when read Error register 1001 Bit 0: General error 8 bit Bit 4: Communication error Error list 1003 Sub index 0: No.
  • Page 12 Description of CANopen Designation Index Function Range of Back Delivery state values Receive 1400 Sub index 0: No. of indices 8 bit PDO 1 Sub 1: COB ID of this PDO 32 bit 200h + communi- device cation address parameter Sub 2: PDO type 8 bit 0xFF...
  • Page 13 Description of CANopen Designation Index Function Range of Back Delivery values state Actual value 2003 Current actual position; ±31 bit value in 1/100 mm (for default values of numerator, SDO #2010 and denominator SDO #2011) Writing to this index number causes the current position to be “referenced”...
  • Page 14 Description of CANopen Designation Index Function Range of Back Delivery state values Maximum 2014 Applies after the end of the chap. 3.3 chap. 3.3 current start-up phase (during start-up 16 bit phase, the value #2018 applies); value in mA Upper limit 2016 Maximum permitted target ±31 bit...
  • Page 15 Description of CANopen Designation Index Function Range of Back Delivery values state Deceleration 201D Value in rpm per second see chap. chap. 3.3 16 bit Loop length 201F Minimum number of 0.025 increments, in which the drive …10 incre- runs to a target in a specified rotations ments direction.
  • Page 16 Description of CANopen Designation Index Function Range of Back Delivery state values Status 2025 Bit 0: Target position reached 0..FFFFh 16 bit Bit 1: Reserved Bit 2: Toggle bit Bit 3: Reserved Bit 4: Motor power present Bit 5: Positioning run aborted Bit 6: Drive is running Bit 7: Temperature exceeded Bit 8: Movement opposite loop...
  • Page 17 Description of CANopen Designation Index Function Range of Back Delivery values state Upper 2028 Definition of the positioning ±31 bit chap. 3.3 mapping end range relative to the absolute value encoder Permissible values: (current position + 3 rotations) … (current position + 4029 rotations) For models with an auxiliary gearbox, the range of values is...
  • Page 18 Description of CANopen Designation Index Function Range of Back Delivery state values Production 2040 Year and week of manufacture YYWW date (given as an integer) 16 bit Serial 2041 Device serial number 0...65535 number 16 bit Max. holding 2042 Max. holding current at end of chap.
  • Page 19 Description of CANopen Designation Index Function Range of Back Delivery values state Writing a “-5”: Delivery state 204F -5…-1 or Resets the drive (corresponds to switching the control voltage ±15 bit off and on 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 Designation Index Function Range of Back Delivery state values Delivery state Writing a “-1”: -5…-1 or Resets all parameters to the delivery states (without ±15 bit changing the CAN address and baud rate), without saving the parameters in EEPROM. The drive then performs a start-up reference loop and positions itself in the middle of the...

  • 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. Note: Setting the value for the holding current to 0 results in a maximum current consumption by the motor circuit of approx.
  • Page 22 Description of CANopen Device type 424/434 426/436 428/438 480/490 480/490 - 14H - 14H - 14H - 5V - 8H/14H Name Range of values Delivery state Upper Limit *) 2016 387,600 254,800 195,483 805,200 805,200 Lower Limit *) 2017 -387,600 -254,800 -195,483 -805.200...
  • Page 23 Description of CANopen Device type 481/491 - 8H/14H Name Range of values Delivery state Upper Limit *) 2016 197.298 Lower Limit *) 2017 -197.298 Target rpm for 2012 1…250 positioning run Target rpm, 2013 1…250 manual run Acceleration 201C 1…1250 Deceleration 201D 1…1250...

  • Page 24: 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 0, 1 Control word 2024h 16-31 2, 3 Unused 32-63 4-7 Target value...
  • Page 25 Description of CANopen Bit 2 Toggle bit This bit is set: - when bit 13 of the control word is set This bit is reset: - when bit 13 of the control word is reset Bit 3 Reserved Bit 4 Motor power present This bit is set: - if the supply voltage for the motor is above the UMot limit (SDO #203C) and...
  • Page 26 Description of CANopen 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 longer delete this bit) - during a positioning sequence in the direction opposite to that of the loop...
  • Page 27 Description of CANopen 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 referencing 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: - by transmitting a valid target value...

  • Page 28: 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 Transfer target value During target value transmission using PDOs, the target value sent in the same PDO is accepted as the new valid target value when this bit is set.
  • Page 29 Description of CANopen Bit 11-12: Reserved must be set to 0 Bit 13: Toggle bit Always when a control word is received, 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.

  • Page 30: Functions

    Functions Functions Starting a positioning run To control the drive with PDOs it must first be switched to the CANopen state “operational”. A positioning movement is then started as follows: Transfer target value: PDO with target value and control word = 0014h or target value on SDO #2001 and control word = 10h on SDO #2024 ...

  • Page 31: Types Of Positioning

    Functions Types of positioning 4.2.1 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:...

  • Page 32: Positioning Run Without Loop

    Functions 4.2.2 Positioning run without loop The “positioning without a loop” mode is used primarily for moving the small distances involved in fine adjustments. In this case, each position is approached directly. Note: To perform a positioning run without a loop run, in addition to setting the release (bit 4 in the command byte), you must also set bit 6 (“Run without loop”) or SDO #201F (“loop length”) must have the value 0.

  • Page 33: Maximum Start-Up And Operating Current

    Functions Maximum start-up and operating current The maximum start-up current can be set via SDO #2018, the maximum operating current can be set via SDO #2014. The start-up current is active after each run begins for the period defined in SDO #2019. 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.

  • Page 34: Behaviour Of The Drive If It Is Turned Manually (Readjustment Function)

    Functions Behaviour of the drive if it is turned manually (readjustment function) If the PSD4xx is rotated in the direction opposite to that of the loop direction – when at a standstill, after a correctly completed positioning run and the release bit (bit 4 in the control word) as well as the readjustment bit (bit 10) are activated –...
  • Page 35 Functions Examples: a) Bring the axle to be positioned into the mid-position, run the drive in neutral (with the adjustable collar open) to the mid-position (position 0), then close the adjustable collar. The drive can now run 2,013 rotations in both directions (default ±805,200 increments).
  • Page 36 Functions 2) The numbers of increments or position values indicated relate to the following settings, which correspond to the delivery state: a) Referencing value (SDO #2004) = 0 b) Actual value of numerator (SDO #2010) = 400 c) Actual value of denominator (SDO #2011) = 400 These 3 SDOs affect the above numbers of increments or position values: The referencing value can be used to shift the range of values, the numerator/denominator to stretch or extend the range of values (see below).
  • Page 37 Functions Referencing value (SDO #2004): With the referencing value (SDO #2004) 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 and lower limit switches. There are two ways of setting the referencing value: Directly –...

  • Page 38: Use Of The "Upper Mapping End" Parameter

    Functions Use of the “Upper mapping end” parameter The following chapter illustrates the use of the parameter “upper mapping end” both graphically and by means of examples: 4.8.1 Delivery state In the delivery state (“DS”), the actual position is exactly in the middle of the positioning range. There is a safety margin of three rotations at the output shaft at both the lower and upper ends of the positioning range.

  • Page 39: Shifting The Positioning Range Upwards Starting From The Delivery State

    Functions 4.8.2 Shifting the positioning range upwards starting from the delivery state In the following example, starting from the DS, the maximum possible positioning range is shifted slightly upwards using the parameter “upper mapping end” (example for a PSD401/411, PSD422/432 or PSD480/490): Here, the upper mapping end was increased from the value 806,400 to 1,031,600.
  • Page 40 Functions Illustration of this extreme case for a PSD401/411, PSD422/432 or PSD480/490: Note: The numerator factor and denominator factor can be used to map any spindle resolutions. Using the referencing value, you can shift the whole range of values. 7100.006424_Bus description_PSD4xx_CA_J_ENG 2022-08-15...

  • Page 41: Shifting The Positioning Range Downwards Starting From The Delivery State

    Functions 4.8.3 Shifting the positioning range downwards starting from the delivery state In the following example, starting from the DS, the maximum possible positioning range is shifted slightly downwards 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.

  • Page 42: Shifting The Positioning Range Depending On The Actual Position

    Functions Illustration of this extreme case for a PSD401/411, PSD422/432 or PSD480/490: 4.8.4 Shifting the positioning range depending on the actual position If (in contrast to the examples above) the actual position is not in the delivery state (i.e. value 0), this is included in the calculation of the possible value range for the upper mapping end.
  • Page 43 Functions Note: Since the upper mapping end is an integer, the minimum and maximum values are obtained by rounding to the nearest integer (applies only to the case numerator ≠ denominator). Example: Spindle with 5 mm pitch, specified unit for target and actual values: 1 µm ...

  • Page 44: Step-By-Step Instructions For Determining The Positioning Range

    Functions 4.8.5 Step-by-step instructions for determining the positioning range The following section describes the procedure for determining those parameters that have an influence on the target and actual position as well as the positioning range. The individual steps must be carried out in the specified order. Setting the direction of rotation: The direction of rotation determines with which direction of rotation of the output shaft the position values increase and with which direction of rotation of the output shaft the...
  • Page 45 Functions Setting referencing value: The referencing value is used to assign a specific value of the actual position to a specific physical position of the axle. The referencing value is written either directly or by setting the actual position. Setting upper mapping end: The parameter defines the location of the maximum possible positioning range in relation to the actual position.

  • Page 46: 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. Denominator factor Number of increments per rotation = 400 × 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.

  • Page 47: Reference Runs

    Functions 4.11 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: 1) Prior to ordering the reference run, adjust the settings as follows: a) Set the max.

  • Page 48: Run Drive In Reverse

    Functions 4.12 Run drive in reverse Depending on the model, the drive may be run in reverse up to a certain speed. ATTENTION: Running a PSD4xx in reverse for more than 1-2 seconds at more than the permissible speed will damage the internal protection diode and the PSD4xx will be defective.

  • Page 49: Technical Data

    Technical data 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 select your type, click on “Data sheets”. Please contact us if you require any further information.

  • Page 50: Notes

    Notes Notes 7100.006424_Bus description_PSD4xx_CA_J_ENG 2022-08-15...
  • Page 51 Notes 7100.006424_Bus description_PSD4xx_CA_J_ENG 2022-08-15...
  • Page 52 GmbH Tel. +49 7661 39 63-0 Stegener Straße 10 info@halstrup-walcher.com 79199 Kirchzarten www.halstrup-walcher.com Germany...

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