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halstrup-walcher PSD4 Series Manual

Positioning system – ethercat
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Bus description
PSD4xx positioning system – EtherCAT

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Summary of Contents for halstrup-walcher PSD4 Series

  • Page 1 Bus description PSD4xx positioning system – EtherCAT...
  • 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 7100.006514_Bus description_PSD4xx_EC_F_EN 2022-12-12...
  • 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 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 “connector and pin assignment” offered for your bus system.
  • Page 7 Description of EtherCAT Description of EtherCAT EtherCAT interface with CoE protocol (CANopen over EtherCAT) The EtherCAT interface uses the CANopen over EtherCAT protocol in accordance with ETG1000.6 Section 5.6: One transmit and one receive SDO per device One asynchronous transmit and receive PDO, active by default Status LEDs The following LEDs are located under the sealing plug: V_Motor...
  • Page 8 Description of EtherCAT Each of the ports (P1/P2) has an associated green LED for the “Link” and "Activity" states. For each port (P1/P2), the following states are possible: No connection Line connection is active, no data activity Flashing at 10 Hz Line connection is active, data transfer active The green “Run”...
  • Page 9 Description of EtherCAT Index Range Back- Designation Function livery values state Receive 1600 Sub index 0: No. of indices (= 2) 8 bit PDO 1 Sub 1: 0x20240010 32 bit mapping Sub 2: 0x20010020 32 bit Transmit 1A00 Sub index 0: No. of indices (= 3) 8 bit PDO 1 Sub 1: 0x20250010...
  • Page 10 Description of EtherCAT Index Range Back- Designation Function livery values state 31 bit Actual value 2003 Current actual position in 1/100 mm (for a 4mm spindle and default values of numerator, (SDO #2010) and denominator (SDO #2011)). Writing to this index number causes the current position to be “referenced”...
  • Page 11 Description of EtherCAT Index Range Back- Designation Function livery values state Maximum rpm to be used for Target speed 2012 positioning runs; chap. chap. value in rpm 16 bit Target speed 2013 Maximum rpm to be used for manual for manual runs;...
  • Page 12 Description of EtherCAT Index Range Back- Designation Function livery values state Time period Time period during which the max. 10... 2019 for start-up start-up torque (SDO #2018) is 1000 torque applied; 16 bit value in ms Speed limit 201A Value in % of the target speed 30...90 for aborting 16 bit...
  • Page 13 Description of EtherCAT Index Range Back- Designation Function livery values state Control word 2024 Bit 0: Manual run to larger values 16 bit Bit 1: Manual run to smaller values Bit 2: Transfer target value Bit 3: Reserved Bit 4: Release: the axle will only run if bit is set.
  • Page 14 Description of EtherCAT Index Range Back- Designation Function livery values state 0… Status word 2025 Bit 0: Target position reached FFFFh Bit 1: Reserved 16 bit Bit 2: Toggle bit Bit 3: Reserved Bit 4: Power supply to motor available Bit 5: Positioning run aborted Bit 6:...
  • Page 15 Description of EtherCAT Index Range Back- Designation Function livery values state 31 bit Upper Definition of the positioning range 2028 102400 mapping end relative to the absolute value encoder Permissible values: (actual position + 3 rotations) … (actual position + 4,029 rotations) Writing only possible when at a standstill.
  • Page 16 Description of EtherCAT Index Range Back- Designation Function livery values state Voltage limit for bit 4 (“Power supply 180… UMot limit 203C to motor available”); in 0.1 V 16 bit A positioning run or manual run can only begin if the motor voltage is higher than the value set here.
  • Page 17 Description of EtherCAT Index Range Back- Designation Function livery values state Safe position 204A Reserved for connection failure Repeat time 204B Reserved for safety run Device type 204D Device type within the PSD range as a string (e.g. “PSD403-18-H”) Version 204E Software version number 16 bit...
  • Page 18 Description of EtherCAT Index Range Back- Designation Function livery values state Writing a “-1”: -6 ... -1 Delivery state 204F Sets the values of all parameters to or 1 the delivery state, without saving the (during parameters in EEPROM writing) (Station name and IP address remain unaffected) ±15 bit...
  • Page 19 Description of EtherCAT Table of device-dependent min., max. and default values Note: The operating torque 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 difference between the actual power consumption of the motor circuit and the set value.
  • Page 20 Description of EtherCAT Device type 424/434 426/436 428/438 480/490 480/490 481/491 - 14H - 14H - 14H - 5V - 8H/14H - 8H/14H Name Inde Range of values x no. Delivery state Upper 2028 388,800 256,000 196,683 806.400 806.400 198.498 mapping end Upper limit *) 2016...
  • Page 21 Description of EtherCAT Process data format 3.5.1 Output module (from the perspective of the IO controller) Byte Meaning Corresponding SDO index number 0-15 Status word 2025h 16-31 Current rpm 2030h 32-63 Actual value 2003h Note: Assignment (cannot be modified) 3.5.2 Input module (from the perspective of the IO controller) Byte Meaning...
  • Page 22 Description of EtherCAT Detailed description of status bits Bit 0 Target position reached This bit is set: when a transferred target position has been reached successfully (not at the end of a manual run, except when the target position is also the specified limit) as a result of manual displacement during standstill, if the actual position of the drive is once again within the positioning window If bit 0 is set at the same time as bit 10 (obstruction), bit 0 has priority!
  • Page 23 Description of EtherCAT 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 too high This bit is set: when the internal device temperature exceeds the limit specified in SDO #203E This bit is reset: when the internal device temperature falls below the limit value by 5 °C Bit 8...
  • Page 24 Description of EtherCAT Bit 10 Positioning error (obstruction) This bit is set: if a positioning run or manual run is aborted because the device is overloaded (obstructions, extreme difficulty running) If bit 0 (target position reached) is set at the same time as bit 10 (obstruction), bit 0 has priority! This bit is reset: for every new run command...
  • Page 25 Description of EtherCAT 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 an end 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 limits by an external force This bit is reset:...
  • Page 26 Description of EtherCAT Detailed description of control bits Bit 0 Manual run to larger values Bit 1 Manual run to smaller values Bit 2 Transfer target value When this bit is set, the target value in the process data is accepted as the new valid target value.
  • Page 27 Functions Functions Positioning The drive must be switched to the ESM status “operational” before it can be controlled using PDOs. Transfer target value: PDO with control word = 0x14 and desired target value  drive begins to run Aborting a run by withdrawing release: PDO with control word = 0x00 If a new target value is transferred during a positioning run, the device will immediately proceed to the new target.
  • Page 28 Functions Types of positioning 4.2.1 Positioning run with reference 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 29 Functions 4.2.2 Positioning run without reference loop The “positioning without a reference loop” mode is used primarily for moving the small distances involved in fine adjustments. In this case, each position is approached directly. Note: This does NOT eliminate any lash present in the driven spindle. ATTENTION: Runs, which intentionally involve a run to an obstruction (e.g.
  • Page 30 Functions Maximum start-up and operating torque The maximum start-up torque can be set using SDO #2018, the maximum operating torque using SDO #2014. The start-up torque is active after each run begins for the period defined in SDO #2019. Note: The stepper motor is optimized for maximum torque. If the PSD is operated at speeds above 400 rpm, self-resonance or even self-locking occurs.
  • Page 31 Functions How to respond if drive is turned manually (adjustment function) If the PSD4xx is rotated in the opposite direction from the reference loop – 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 (SDO #2047) are activated –...
  • Page 32 Functions Calculate the absolute physical position The PSD4xx actuator includes an absolute measuring system capable of covering a range of 4,026 rotations. This allows the user to determine the direction of rotation for any desired portion of these 4,026 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 +4,029 rotations  Set SDO #2028 to 1,611,600. b) After assembly, the displayed position is 804,000.
  • Page 34 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 (SDO #202C) Positioning scaling, numerator (SDO #2010) Positioning scaling, denominator (SDO #2011) Reference value (SDO #2004) Upper mapping end (SDO #2028) Positioning window (SDO #2006)
  • Page 35 Functions Set the spindle pitch Using SDO #2010 (numerator factor) and SDO #2011 (denominator factor), it is possible to represent any desired spindle pitch using positioning scaling factors: Denominator factor Number of increments per rotation = 400 × Numenator 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 36 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: Set max.
  • Page 37 Functions 4.11 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 38: 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 39 Notes 7100.006514_Bus description_PSD4xx_EC_F_EN 2022-12-12...
  • Page 40 GmbH Tel. +49 7661 39 63-0 Stegener Straße 10 info@halstrup-walcher.com 79199 Kirchzarten www.halstrup-walcher.com GERMANY...