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halstrup-walcher PS*3**IO series Instruction Manual

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Document 7100.005374
Instruction Manual
PSx3xxIO
10/2017
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
Email:
info@halstrup-walcher.de
Website:
www.halstrup-walcher.de

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Summary of Contents for halstrup-walcher PS*3**IO series

  • Page 1 Instruction Manual PSx3xxIO 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 Email: info@halstrup-walcher.de Website: www.halstrup-walcher.de Document 7100.005374 10/2017...

  • Page 2: Table Of Contents

    PSx3xxIO Instruction Manual Contents Safety precautions ......................4 Appropriate use ......................4 Shipping, assembly, electrical connections and start-up ..........4 Troubleshooting, maintenance, repairs, disposal ............4 Symbols ........................4 Device description ......................5 Functional description ....................5 Installation ........................5 Pin assignment ......................
  • Page 3 Instruction Manual PSx3xxIO Purpose of instruction manual This instruction manual describes the features of PSx3xxIO positioning systems and provides guidelines for their use. Improper use of these devices or failure to follow these instructions may cause injury or equipment damage. All individuals responsible for operating these devices must therefore be properly trained and aware of the hazards.

  • Page 4: Safety Precautions

    PSx3xxIO Instruction Manual Safety precautions 1.1 Appropriate use The positioning systems are particularly suitable for automatic adjustment of tools, attachments or spindles for wood processing machines, packaging machines, printing machines, filling systems and special machines. The PSx3xxIO positioning systems are not stand-alone devices and may only be used if coupled to another machine.

  • Page 5: Device Description

    Instruction Manual PSx3xxIO 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. WARNING: This warns you of a potential hazard that could lead to significant property damage if corresponding instructions are not followed.

  • Page 6: Pin Assignment

    PSx3xxIO Instruction Manual Driving the PSx3xxIO rearward is prohibited (e.g. it’s not allowed to turn the output shaft by an external force). If the diameter of the drive shaft (-8, -14) is not specified with the device name, the information applies for all drive shafts (applies for the entire document).

  • Page 7: Meaning Of The Led's

    Instruction Manual PSx3xxIO Connector pin assignment for jog keys (optional) 1. +24V (output) 2. forward key 3. reverse key 4. ground (Top view from the outside) 2.4 Meaning of the LED’s The following LED’s are under the transparent sealing plug: ...
  • Page 8 PSx3xxIO Instruction Manual A positioning on the upper limit (ISDU 129) with a loop length < 0 is not possible because the drive would have to overrun the end limit to achieve this. The same applies to the lower limit (ISDU 130) for a loop length > 0. Operation of the PSW is not permitted underwater.

  • Page 9: Io-Link

    Instruction Manual PSx3xxIO 2.6 IO-Link For the IO-Link interface, IEC 61131-9 Version 1.1.2 is used as the SDCI protocol. The format of the output data can be optionally constructed according to the time stamp specification from the company Sick (consisting of a time stamp and two control bits), or consist of a control word and target value (process data;...
  • Page 10 Bit 0: parameter (write) access lock 16 bit access locks Bit 1: data storage lock Bit 2: local parameterisation lock Bit 3: local user interface lock Vendor name 16 halstrup-walcher GmbH String Vendor text www.hwg.eu String Product depending on the gearbox type, String e.g.
  • Page 11 Instruction Manual PSx3xxIO Designation ISDU Function Value Secu Delivery R/W Number range Status requests (continuation) 31 bit Actual value Current actual position, value in 1/100 mm (for default settings of numerator ISDU 124 and denominator ISDU 125 and spindle pitch 4 mm) Writing onto this register causes the current position to be “referenced”...
  • Page 12 PSx3xxIO Instruction Manual Designation ISDU Function Value Secu Delivery R/W Number range Run commands Set control If this par. is set to 0 and the subsequent 0…1 word write command affects the control word 8 bit (110), the writing of the control word is suppressed.
  • Page 13 Instruction Manual PSx3xxIO Designation ISDU Function Value Secu Delivery R/W Number range “Bus communication” parameter group 0  with time stamp function Process data 0…1 1  with 6 bytes of output data format 8 bit After saving and restarting, the device reports with the Device ID which corresponds to the gearbox type: with time stamp function...
  • Page 14 PSx3xxIO Instruction Manual Designation ISDU Function Value Secu Delivery R/W Number range “Position values” parameter group Direction of 0: clockwise 0 or 1 rotation (when looking at the output shaft) 8 bit 1: counter clockwise Actual value With these values, any user resolution 1...10000 assessment, can be mapped on the drive.
  • Page 15 Instruction Manual PSx3xxIO Designation ISDU Function Value Secu Delivery R/W Number range “Position values” parameter group (continuation) Number Number of steps for the brake release 1...50 breaking free drive 16 bit steps Configuration Reaction of the drive to a connection 16 bit failure 0 ...
  • Page 16 PSx3xxIO Instruction Manual Designation ISDU Function Value Secu Delivery R/W Number range "Torque" parameter group Maximum Value in cNm start torque 16 bit Maximum Applies after the end of the start-up phase torque (during the start phase, the value from 16 bit ISDU 152 applies);...
  • Page 17 Instruction Manual PSx3xxIO Designation ISDU Function Value Secu Delivery R/W Number range “Other” parameter group General 171-180 10 freely-usable registers 16 bit purpose Voltage limit for Bit ‘motor power present’ UMot limit 180...240 in 0.1 V 16 bit Temperature Temperature limit °C for overtemperature 10...70 limit 16 bit...
  • Page 18 PSx3xxIO Instruction Manual Table of the speed and torque values for the different gear types Device type 301-x 302-x 305-x 322-14 325-14 328-14 PSE and PSS 311-x 312-x 315-8 332-14 335-14 ISDU Designation Value range delivery … Target rpm abs 15...230 10...150 3...70...
  • Page 19 Instruction Manual PSx3xxIO Device type 301-x 302-x 305-x 322-14 325-14 328-14 311-x 312-x 315-8 332-14 335-14 Designation ISDU Value range delivery … Target rpm abs 15...180 10...125 3...60 20...150 10...80 … Target rpm jog 15...180 10...125 3...60 20...150 10...80 … Target rpm CCW 15...180 10...125...
  • Page 20 PSx3xxIO Instruction Manual Special version 3325 3410 3418 311-8/So Designation ISDU Value range delivery Target rpm abs 2...18 10...100 5...90 30...1000 Target rpm jog 2...18 10...100 5...90 30...1000 Target rpm CCW 2...18 10...100 5...90 30...1000 Target rpm CW 2...18 10...100 5...90 30...1000 Acceleration...
  • Page 21 Instruction Manual PSx3xxIO Since the time stamp value must lie in the range [0…16368], the maximum possible delay time is 65.472ms. A valid time stamp that is cyclically transmitted creates no response in the drive because the last time stamp becomes invalid when a new one is entered. Therefore, the intended action is only executed if the time stamp is inactive, i.e., accepts the value 16383.
  • Page 22 PSx3xxIO Instruction Manual Bit 1: Drag error set: - If the set maximum speed is not reached after the end of the acceleration phase reset: - with each new run command Bit 2: Reverse jog key active set: - If Pin 3 of the key connector is connected with Pin 1 (+24V), reset: - If Pin 3 of the key connector is disconnected with Pin 1 (+24V), Bit 3:...
  • Page 23 Instruction Manual PSx3xxIO - if an internal problem has been detected in the position calculation If the error bit is set, no drive orders are possible apart from the initial refer- ence loop reset: - If a initial reference loop is completed correctly Bit 10: Positioning error (block) set: - If a positioning run has been cancelled as a result of overload (block, strong...
  • Page 24 PSx3xxIO Instruction Manual (d) Detailed description of the control bits Bit 0: Manual run to larger values Bit 1: Manual run to smaller values Bit 2: Transfer target values: For transferring a target value with the help of the process data, the positioning is only started if this bit is set. Bit 3: Release for manual run in jog key mode: This bit must be set in order to switch from jog key mode (run activated via the keys, if bit 5 is set;...

  • Page 25: Positioning In "Time Stamp" Mode

    Instruction Manual PSx3xxIO the specified target speed (ISDU 142). Drag error correction only takes place for positioning drives, i.e. not for manual or jog drives. It also only takes effect during acceleration or a drive at constant speed, not during deceleration. The speed setpoint for acceleration results from the speed at the start of the positioning as well as from the specified acceleration (ISDU 147).
  • Page 26 PSx3xxIO Instruction Manual (b) Positioning run without loop The sequence corresponds to a positioning run with loop. To perform a positioning run without a loop, Bit 6 must be set in the control word in addition to the release (Bit 4 in “...

  • Page 27: Positioning In "6 Byte Output Data" Mode

    Instruction Manual PSx3xxIO (f) Manual run with inactivated time stamp - transfer manual run (send control word, ISDU 110 with value 0x11 or 0x12): Drive starts to move - Exit the manual run by withdrawing the manual travel command (send control word with the value 0x10) or by cancelling the release (send control word with the value 0x00).

  • Page 28: Special Features

    PSx3xxIO Instruction Manual (c) Manual run - transfer manual drive (control word = 0x11 or 0x12): Drive starts to move - stop the manual run by withdrawing the manual run command (send control word 0x10) or by cancelling the release (send control word 0x00). - In the case of transfer of a target position during a manual drive this is ended and the sent position is approached immediately (control = and desired target position value).
  • Page 29 Instruction Manual PSx3xxIO (c) Behaviour of the drive during manual displacement (readjustment function) If the PSx3xxIO at standstill is rotated against the loop direction by an external force after a correctly-completed positioning run (or manual run to a range limit) and the release bit (Bit 4) and the readjustment bit (Bit 10) are set in the control word, it tries to approach the previously-sent target position again (readjustment).
  • Page 30 PSx3xxIO Instruction Manual (b) Move the axle completely to the left (resp. bottom), then move the drive at no- load (with opened collar) without loop to the lowest position (position 1200), then close the collar. The drive is now capable of moving 250 rotations (±100000 increments by default) to the right (resp.
  • Page 31 Instruction Manual PSx3xxIO (c) upper mapping end (ISDU 128) (d) upper limit (ISDU 129), lower limit (ISDU 130), positioning window (ISDU 131) length of loop (ISDU 132) “ ” 8) To save the settings permanently in the EEPROM, a must be written in ISDU 193.
  • Page 32 PSx3xxIO Instruction Manual (f) Drag error During a positioning run, the device compares the computed target position with the current actual value. If the difference is greater than the value of the "drag error" (ISDU 133), the corresponding bit is set in the status. This is particularly the case if the speed setpoint cannot be reached due to external influences (required torque, motor voltage too low).
  • Page 33 Instruction Manual PSx3xxIO The step width for brief key pressing can be adjusted via ISDU 135. A single step is executed when one of the external buttons is pressed. If the key is released before the single step has been completed, this is nevertheless brought to an end. If the same key remains pressed, a continual manual drive follows the single step after a brief waiting time as long as the key is pressed.
  • Page 34 PSx3xxIO Instruction Manual A run command is not approached immediately but only after a short idle period to tighten the brake. The brake releases at the end of every run. To adjust the drive manually, it is first necessary to remove the corresponding rubber- plug in the top cover.

  • Page 35: Technical Data

    Instruction Manual PSx3xxIO 6 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 10 Hz to 55 Hz 1.5 mm according to DIN IEC 68-2-6 55 Hz to 1000 Hz 10 g 10 Hz to 2000 Hz 5 g...
  • Page 36 Dimensions (L x W x H) See product catalogue online Weight (approx.) PSx30xIO-8 650 g PSx30xIO-14, PSx32xIO 1200 g PSx31xIO-8 700 g PSx31xIO-14, PSx33xIO 700 g PSE31xxIO 1200 g PSE34xxIO 1900 g For additional, please visit our website at https://www.halstrup-walcher.de/en/products/positioning-systems/pse-pss-psw-3-series/in- dex.php 7100.005374B_PSx3xxIO.docx 10/2017 Ka/Ed...
  • Page 37 Instruction Manual PSx3xxIO...

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Pss3**io seriesPse3**io seriesPsw3**io series

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