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Summary of Contents for halstrup-walcher PS*3**PL series
- Page 1 Instruction Manual PSx3xxPL Instruction Manual PSx3xxPL halstrup-walcher GmbH Stegener Straße 10 D-79199 Kirchzarten Tel.: +49 (0) 76 61/39 63-0 Fax: +49 (0) 76 61/39 63-99 E-Mail: info@halstrup-walcher.com Internet: www.halstrup-walcher.com Document 7100.005424 07/2017...
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Page 2: Table Of Contents
Instruction Manual PSx3xxPL Table of Contents Safety precautions ........................4 1.1 Appropriate use ........................4 1.2 Shipping, assembly, electrical connections and start-up ............. 4 1.3 Troubleshooting, maintenance, repairs, disposal ..............4 1.4 Symbols ..........................5 Device Description ........................5 2.1 Features ..........................5 2.2 Installation .......................... - Page 3 Instruction Manual PSx3xxPL Purpose of instruction manual This instruction manual describes the features of the PSx3xxPL positioning system and provides guidelines for its use. Improper use of these devices or failure to follow these instructions may cause injury or equipment damage. Every person who uses the devices must therefore read the manual and understand the possible risks.
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Page 4: Safety Precautions
Instruction Manual PSx3xxPL 1 Safety precautions 1.1 Appropriate use Positioning systems are especially suitable for automatically setting tools, stops or spindles for wood-processing equipment, packing lines, printing equipment, filling units and other types of special machines. PSx3xxPL positioning systems are not stand-alone devices and may only be used if coupled to another machine. -
Page 5: Symbols
Instruction Manual PSx3xxPL 1.4 Symbols The symbols given below are used throughout this manual to indicate instances when improper operation could result in the following hazards: WARNING! This warns you of a potential hazard that could lead to bodily injury up to and including death if the corresponding instructions are not followed. -
Page 6: Pin Assignment
Instruction Manual PSx3xxPL Solid shaft: The PSx3xxPL is mounted on the machine by fixing the solid shaft with coupling and intermediate flange to the axis of the machine. Never apply force to the housing cover, e.g., for supporting weight. Driving the PSx3xxPL rearward is prohibited (e.g. it’s not allowed to turn the output shaft by an external force). -
Page 7: Setting The Device Address
Instruction Manual PSx3xxPL Setting the device address Removing the protective cap provides access to two rotary switches for setting the device address at the bus. The rotary switches indicate the tens and ones places of the address selected. The delivery setting is 00, e.g. before the first start-up a valid address has to be set. -
Page 8: Start-Up
Instruction Manual PSx3xxPL - Single flashing with 0.8 Hz PRE-OPERATIONAL_1 - Double flashing with 0.6 Hz PRE-OPERATIONAL_2 - Triple flashing with 0.5 Hz READY_TO_OPERATE - Flashing with 2.5Hz STOPPED - On OPERATIONAL 3) The red Powerlink LED “Bus Error” (BE) signalizes an error: - Off ... -
Page 9: Powerlink Interface
Instruction Manual PSx3xxPL Where applicable, positioning runs involve a “loop run” which causes the target position to be reached from a predefined direction. The direction and the length of the loop run can be set to the desired value with SDO #201F (“length of loop”) before the run. - Page 10 Instruction Manual PSx3xxPL a) Table of entries implemented from object dictionary Name Index Function Range of Back Delivery number value State returns a “0” when read Device Type 1000 32 bit Error 1001 Error register according CiA DS 301 8 bit Register Error History 1003...
- Page 11 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State general 2000 10 general purpose registers purpose 0...10 sub index 0: quantity of indexes (= 10) 8 bit register sub 1..10: general purpose registers 32 bit 31 bit target value 2001 target position to be achieved...
- Page 12 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State 31 bit upper limit 2016 maximum permitted target position 101200 minimum value: upper mapping end - 253 revolutions maximum value: upper mapping end - 3 revolutions Changes only possible when at standstill 31 bit lower limit 2017...
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Page 13: Error
Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State status word 2025 Bit 0: target position reached 0..FFFFh Bit 1: drag error 16 bit Bit 2: reserved 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 direction... -
Page 14: Cation
Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State voltage limit for bit 4 (‘motor power 180… Umot limit 203C present’); given in increments of 0.1 V 16 bit Beginning a positioning run or a manual run is only possible if the supply voltage for the motor is higher than the value of this SDO. - Page 15 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State configuration 2049 Bits 1-0: configuration for connection 16 bit timeout (if a connection has been connection established and lost) timeout 0x00: continue moving (drive will continue moving to the actual target position) 0x01: drive will abort any positioning 0x02: drive will move to a save position which is defined by SDO #204A...
- Page 16 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State writing “-2”: delivery state 204F -2, -1 sets the values of all parameters to the oder 1 (writing) values which are saved last by the user, 0..2 without saving the parameters in the (reading) EEPROM...
- Page 17 Instruction Manual PSx3xxPL Table of rated speed and torque values for various models of gears device model PSE and 301-x 302-x 305-x 328-14 311-x 312-x 315-8 Index Name Range of value number Delivery State 5…45 target rpm posi 2012 15...230 10...150 3...70 20...200...
- Page 18 Instruction Manual PSx3xxPL device model PSE 3110 3125 3210-x 3218 3310-x Index Name Range of value number Delivery State 1…30 1…12 target rpm posi 2012 5...45 3...30 1…30 1…12 target rpm hand 2013 5...45 3...30 9…50 4…20 acceleration 201C 20...117 11...70 9…50 4…20...
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Page 19: Receive
Instruction Manual PSx3xxPL b) PDO definition 1) Receive PDO (from the perspective of the PSx3xxPL) Assignment (cannot be modified): Byte Description corresponding SDO index number 0-15 control word 2024h 16-47 target value 2001h 2) Transmit PDO (from the perspective of the PSx3xxPL) Assignment (cannot be modified): Byte Description... - Page 20 Instruction Manual PSx3xxPL Bit 5: positioning run aborted This bit is set: - if a positioning run is aborted because release in the control word has been withdrawn or because of an invalid bit combination in the control word This bit is reset: - with each new run command Bit 6: drive is running...
- Page 21 Instruction Manual PSx3xxPL Bit 12: incorrect target value This bit is set: - when a transferred target value lies outside of the limit switches; also caused, for instance, because of the actual value of the reference value (SDO #2004) - when a transferred target value lies inside of the limit switches; but because of a necessary loop run the specified interval would be left This bit is reset: - with each new run command...
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Page 22: Specials
Instruction Manual PSx3xxPL Bit 4: Release: Run commands will only be executed if this bit is set. This bit must be set for positioning runs and manual runs. If this bit is cleared during a run, the run will be aborted and status bit 5 will be set (‘positioning run aborted’). -
Page 23: General
Instruction Manual PSx3xxPL c) Response of drive in case of manual displacement (readjustment) If after a correctly finished positioning run (or a manual run to the range limit) during standstill the PSx3xxPN is displaced by external force opposite to the loop direction and the release bit (bit 4 in the control word) is set and the readjustment function (SDO #2047) is enabled, the device will attempt to reach the previously transmitted target value once again (readjustment). - Page 24 Instruction Manual PSx3xxPL Hence the PSx3xxPL differs between the following steps of a positioning sequence (Presumption: the target position is always approached through backward motion, i.e. the length of loop is > 0, which corresponds to the drawing above): 1. New position value is larger than the current value: The device overruns the target position by 5/8 of one rotation, then approaches the exact position in backward motion.
- Page 25 Instruction Manual PSx3xxPL For the realization of any desired positioning range independent of the possible positioning range which is defined by the mounting situation (physical positioning range) there are the following two possibilities: 1) Move the axle (for example a spindle) to the desired position, then move the drive (with opened collar) to the position value which belongs to the physical position of the axle, only then close the collar.
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Page 26: Actual Value
Instruction Manual PSx3xxPL 3) When changing the direction of rotation (SDO #202C), the referencing value (SDO #2004), the upper mapping end (SDO #2028) and the upper and lower limit (SDO #2016 and #2017) are set to delivery state. 4) When changing the upper mapping end (SDO #2028), the upper limit (SDO #2016) will be set to the value [upper mapping end - 3 rotations x scaling] and the lower limit (SDO #2017) to the value [upper mapping end - 253 rotations x scaling]. -
Page 27: Drag Error
Instruction Manual PSx3xxPL The denominator factor serves as a simple means of setting the spindle pitch and resolution. The numerator factor is primarily used for setting “unlevel” resolutions. Examples: Spindle pitch Resolution Numerator Denominator factor factor 4 mm 1/100 mm 1 mm 1/100 mm 2 mm... - Page 28 Instruction Manual PSx3xxPL...
- Page 29 Instruction Manual PSx3xxPL k) Devices with optional holding brake The device models PSx30xPL-14, PSx31xPL-14, PSx32xPL and PSx33xPL can be supplied with an optional holding brake. This brake prevents the output shaft from turning when the power supply to the motor is removed, or, if the motor holding torque is too low, to a maximum of the level of the nominal torque.
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Page 30: Positioning
Instruction Manual PSx3xxPL m) Reference runs The PSx3xxPL positioning system is equipped with an absolute measuring system, therefore there’s no need for a reference run when powering on the drive. However, if in certain cases a reference run onto a hard block should be desired (e.g. uniquely when installing the drive at a machine), the course of action should be the following: 1) Before commanding the reference run the following settings have to be carried out:... -
Page 31: Technical Data
Instruction Manual PSx3xxPL 4 Technical Data Ambient conditions ambient temperature 0 °C to +45 °C storage temperature -10 °C to +70 °C shock resistance according to 50 g 11 ms DIN IEC 68-2-27 resistance to vibration according to 10 Hz to 55 Hz 1.5 mm nach DIN IEC 68-2-6 55 Hz to 1000 Hz 10 g 10 Hz to 2000 Hz 5 g... -
Page 32: Maximum
(approx.) PSx30xPL-8 650 g PSx30xPL-14, PSx32xPL 1200 g PSx31xPL-8 700 g PSx31xPL-14, PSx33xPL 700 g PSE31xxPL 1200 g PSE34xxPL 1900 g For additional specifications and dimension drawings, please visit our website at www.halstrup-walcher.de/en/produkte/positioniertechnik/positioniersysteme/index.php 7100.005424E_PSx3xxPL.doc 07/2017 Re / Ka... - Page 33 Instruction Manual PSx3xxPL...
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