halstrup-walcher PSD4 Series Description
Bus description positioning system io-link
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- Instruction manual (52 pages) ,
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Summary of Contents for halstrup-walcher PSD4 Series
- Page 1 Bus description PSD4xx positioning system – IO-Link...
- 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 General Table of contents 7100.006434_Bus description_PSD4xx_IO_J_ENG 2022-09-13...
- Page 4 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 “connector and pin assignment” offered for your bus system.
- Page 5 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 You can find information about installing and the connection and pin assignment of the drive at the following link: www.halstrup-walcher.de/technicaldocu Please search for “PSD” and select your type, click on “Instruction manuals” and download the “connector and pin assignment” offered for your bus system.
- Page 7 Description of IO-Link Description of IO-Link Note: For the IO-Link interface, the protocol used is SDCI according to IEC 61131-9 version 1.1.2. 2.1. Status LEDs The following LEDs are located under the sealing plug: Green LED (gn) = RUN LED in accordance with IO-Link IO-Link communication not available 90% on, 10% off IO-Link communication available...
- Page 8 Description of IO-Link 2.2. Table of entries implemented from object dictionary Note: Reserved bits or ISDUs must be described with 0. Designation ISDU Function Range Back Delivery of 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 Bit 2: Local para- meterisation lock Bit 3: Local user interface lock Reserved 4..15: “halstrup-walcher GmbH” Name of String manufacturer “www.hwg.eu” Manufacturer String text Product Dependent on device type, String e.g. “PSD422-8H”...
- 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 Bit 1: Reserved Bit 2: Toggle bit Bit 3: Reserved Bit 4: Motor power present Bit 5: Positioning run aborted Bit 6:...
- Page 11 Description of IO-Link Designation ISDU Function Range of Back Delivery values state Status requests 31 bit Actual Current actual position, position value in 1/100 mm (For default values of numerator, ISDU 116 and denominator, ISDU 117 and spindle pitch 4 mm) Writing to this index number causes the current position to be “referenced”...
- Page 12 Description of IO-Link Designation ISDU Function Range of Back Delivery values state Status requests Device type The respective device type 16 bit from the PSD series (the last 2 digits of the 5-digit numbers refer to the diameter of the output shaft, e.g.
- Page 13 Description of IO-Link Designation ISDU Function Range of Back Delivery values state Status requests Available The value indicates which 16 bit additional additional functions are functions available. The individual bits indicate the availability of a certain additional function. If the bit is set, the corresponding additional function is available.
- Page 14 Description of IO-Link Designation ISDU Function Range of Back Delivery values state Run commands 0…1 Write If this parameter is set to 0 and command the subsequent write command 8 bit byte is the command byte (ISDU 110), the writing of the command byte is suppressed.
- Page 15 Description of IO-Link Designation ISDU Function Range of Back Delivery values state Run commands 31 bit Target value Target position Value in 1/100 mm (for default values of numerator, ISDU 116 and denominator, ISDU 117 and spindle pitch 4 mm) 7100.006434_Bus description_PSD4xx_IO_J_ENG 2022-09-13...
- Page 16 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Positioning values” parameter group Direction of 0: clockwise (when looking at 0 or 1 rotation the output shaft) 8 bit 1: counter clockwise Writing is only possible when standing still.
- Page 17 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Positioning values” parameter group 31 bit Upper Definition of the positioning range relative to the absolute mapping end chap. 3.3 value encoder Permissible values PSD401/411/422/432/480/490: (current position + 3 rotations) …...
- Page 18 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Positioning values” parameter group 31 bit Lower limit Minimum permissible target position chap.3.3 Permissible values PSD401/411/422/432/480/490: Upper mapping end - 1,200 .. 1,611,600 * denominator/numerator For models with an auxiliary gearbox, the range of values is reduced in accordance with the gear ratio (see chapter 3.3.).
- Page 19 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Positioning values” parameter group Loop length Minimum number of 0.025 ... increments, in which the drive runs to a target in a specified rotations direction. Value in increments -0.025...
- Page 20 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Speed” parameter group Target speed Maximum target speed to be (rpm) for used for positioning runs chap. 3.3 chap. 3.3 positioning Value in rpm 16 bit runs Target speed Maximum target speed to be (rpm) for used for manual runs...
- Page 21 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Torque” parameter group Max. start-up in mA current chap. 3.3 chap. 3.3 16 bit Maximum in mA operating chap. 3.3 chap. 3.3 current 16 bit Max. in mA holding chap.
- Page 22 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Time” parameter group Time elapsed Value in ms 50 ... 500 until speed 16 bit falls below rpm limit for aborting run 10 … Time period Value in ms for start-up 1000 current...
- Page 23 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Other” parameter group Free register Freely-usable register ± 31 bit Voltage limit for bit “Motor UMot limit 180 ... power present” given in increments of 0.1 V 16 bit Temperature Upper temperature limit in °C 10 ...
- Page 24 Description of IO-Link Designation ISDU Function Range of Back Delivery values state “Other” parameter group (continuation) Writing a “-5”: Delivery state 194 -5…1 Resets the drive (corresponds (during to switching the control voltage writing) off and on again) Writing a “-3”: Resets all parameters to the 0...2 delivery states without saving...
- Page 25 Description of IO-Link 2.3. 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 current consumption deviates from the set current value.
- Page 26 Description of IO-Link Device type 401/411 401/411 403/413 422/432 422/432 - 5V - 8H/14H - 8H/14H - 8V - 8H/14H Name ISDU Range of values Delivery state 5…2000 5…2000 5…2000 5…4000 5…4000 Max. operating current 1500 1500 0…600 0…600 0…600 0…800 0…800 Max.
- Page 27 Description of IO-Link Device type 424/434 426/436 428/438 480/490 480/490 481/491 - 14H - 14H - 14H - 5V - 8H/14H - 8H/14H Name ISDU Range of values Delivery state Upper Min. value = current position + 1200 * denominator/numerator mapping end Max.
- Page 28 Description of IO-Link 2.4. Definition of process data 1) Process output data: 6 or 8 byte (from the point of view of the IO-Link master) Assignment for variants without the option “target speed in process data” (i.e. variants with the feature “software modules” = “1”, “M” or “S”) Byte Meaning Corresponding IO-Link parameters...
- Page 29 Description of IO-Link 2.5. Detailed description of bits in the status byte Bit 0 Target position reached This bit is set: when a transferred target position has been reached successfully after running a start-up reference loop, when the actual value corresponds to the previously transferred target value This bit is reset: after transferring a target position if the release bit is set and when the...
- Page 30 Description of IO-Link Bit 6 Drive is running This bit is set: when the drive is rotating This bit is reset: when the drive is at a standstill Bit 7 Temperature exceeded This bit is set: when the internal device temperature rises above the limit value from ISDU 180 This bit is reset: when the internal device temperature falls below the limit value by 5 °C Bit 8...
- Page 31 Description of IO-Link Bit 10 Positioning error (block) This bit is set: if a positioning run is aborted because the device is overloaded (obstructions, extreme difficulty running) This bit is reset: by transmitting a new positioning command with a 0 1 edge of the bit “Error Acknowledge” (available from FW V19) after a start-up reference loop has been correctly executed Bit 11 Manual displacement...
- Page 32 Description of IO-Link Bit 14/ Forward/reverse limit reached Bit 15 This bit is set: if the limit value is reached during a manual run (not when reached during a positioning run) if a limit is modified such that the current position lies beyond it if, when at a standstill, the drive is moved to a position beyond the range defined by the limit switches by an external force This bit is reset:...
- Page 33 Description of IO-Link 2.6. 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 34 Description of IO-Link Bit 13 Toggle bit Always when a command byte 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 35 Functions Functions 3.1. 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 Drive begins run Aborting a run by withdrawing release: Command byte = 0x00 Note: If a new target value needs to be set during an active positioning run, the drive...
- Page 36 Functions 3.2. Types of positioning 3.2.1. 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.
- Page 37 Functions 3.2.2. Positioning run without loop The “positioning without 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, in addition to setting the release (bit 4 in the command byte), you must also set bit 6 (“run without loop”) or ISDU 124 (“loop length”) must have the value 0.
- Page 38 Functions 3.3. Velocity, acceleration and deceleration Start-up reference loops and manual runs are performed at the maximum velocity from ISDU 138. Positioning runs are performed at the maximum velocity from ISDU 137. For the variants with the option “Target speed in process data” (i.e. variants with the feature “software modules”...
- Page 39 Functions 3.5. Behaviour in case of blocking If, during the run, the achievable speed falls below the limit value of 30 % of the selected maximum speed (ISDU 143) for longer than 200 ms (ISDU 154) (these are the default values), the device registers an obstruction, aborts the run and sets the “positioning error”...
- Page 40 Functions 3.7. Calculate the absolute physical position The PSD4xxIO 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 41 Functions Examples: 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 ISDU 120 to 1,611,600. After assembly, the displayed position is 804,000.
- Page 42 Functions If the user wants to avoid any automatic adjustment of values when setting the parameters for the drive, the optimum order for sending the parameters is as follows: Direction of rotation (ISDU 115), actual value assessment of numerator (ISDU 116), actual value assessment of denominator (ISDU 117) Referencing value (ISDU 119) Upper mapping end (ISDU 120)
- Page 43 Functions Use of the “Upper mapping end” parameter 3.8. The following chapter illustrates the use of the parameter “upper mapping end” both graphically and by means of examples: a) 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 44 Functions b) 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 45 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. c) 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”...
- Page 46 Functions Device type 401/411, 403/413, 424/434 426/436 428/438 422/432, 481/491 480/490 Measurement range of the 4,032 1,944 1,280 absolute measuring rotations rotations rotations rotations rotations system Max. possible positioning 4,026 1,938 1,274 range rotations rotations rotations rotations rotations Upper mapping end 1,200 1,200 1,200...
- Page 47 Functions d) 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. The decisive factor is that the device only accepts values for the upper mapping end where the actual position is within the max.
- Page 48 Functions Example: Spindle with 5 mm pitch, specified unit for target and actual values: 1 µm 1 rotation = 5 mm = 5,000 m Number of steps per rotation = 5,000 Using the formula Number of steps per rotation = 400 * denominator / numerator the following result is obtained: numerator = 400;...
- Page 49 Functions 1) 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 position values decrease. 2) Setting numerator and denominator: The numerator and denominator determine the number of steps into which one rotation of the output shaft is divided.
- Page 50 Functions 4) Setting upper mapping end: The parameter defines the location of the maximum possible positioning range in relation to the actual position. 5) Setting upper and lower limits: If necessary, the maximum possible positioning range can be restricted to prevent incorrect target positions that lead to a collision.
- Page 51 Functions 3.9. 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: 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 52 Functions 3.10. Modulo function (Available from firmware V19 for variants with the feature “Software modules” = “M” or “Z”) Operating principle: The modulo function allows the user to have the device process the transmitted target position as a modulo position instead of as a continuous target position. This can be used to cover applications in which, for example, it is driving a turntable.
- Page 53 Functions When the value for the actual position decreases, the actual position jumps to the value [Upper modulo position - 1] as soon as the value falls below the value “Lower modulo position”. Activation of modulo mode: Modulo mode is activated or deactivated by setting ISDU 184 (“Modulo mode”). The parameter can assume the following states: 0 ...
- Page 54 Functions Other settings: The other settings that influence the positioning process (in particular, the direction of rotation, scaling, referencing value, positioning window and activation of the adjustment function) retain their previous function in modulo mode, but the following exceptions apply: The positioning range limits and the upper mapping end have no function in modulo mode.
- Page 55 Functions 3.11. Changeover of parameter set (Available from firmware V19 for variants with the feature “software modules” = “S” or “Z”) Some parameters that have an influence on the execution of a positioning run are stored in the device in four instances. The associated ISDUs have 4 sub-indices, resulting in a total of four run sets.
- Page 56 Functions 3.12. Aborted run when the master fails If the connection to the master is interrupted during a positioning run, the master cannot abort a run that is already underway. In this case, there are two possible responses: 1) If a positioning run is in progress, the drive should complete this positioning run as planned.
- Page 57 Functions 3.13. Reference runs The PSD4xxIO 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: Set the max.
- Page 58 Functions 3.14. 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.
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Page 59: 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. Notes halstrup-walcher GmbH Tel. +49 7661 39 63-0 Stegener Straße 10 info@halstrup-walcher.com 79199 Kirchzarten www.halstrup-walcher.com...