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

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Document 7100.004144
Instruction Manual
PSx3xxDN
03/2017
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten, Germany
Phone:
+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

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  • Page 1 Instruction Manual PSx3xxDN halstrup-walcher GmbH Stegener Straße 10 D-79199 Kirchzarten, Germany Phone: +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 7100.004144 03/2017...

  • Page 2: Table Of Contents

    PSx3xxDN Instruction Manual Table of Contents 1 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 Features ........................5 Installation ........................
  • Page 3 PSx3xxDN Instruction Manual Purpose of instruction manual This instruction manual describes the features of PSx3xxDN 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

    PSx3xxDN Instruction Manual 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. PSx3xxDN positioning systems are not stand-alone devices and may only be used if coupled to another machine.

  • Page 5: Symbols

    PSx3xxDN Instruction Manual 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

    PSx3xxDN Instruction Manual Solid shaft: The PSx3xxDN 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 PSx3xxDN rearward is prohibited (e.g. it’s not allowed to turn the output shaft by an external force).

  • Page 7: Setting The Device Address And Baud Rate

    PSx3xxDN Instruction Manual Round plug for CAN bus: Round socket for CAN bus: (external top view) (external top view) shield +24V control module CAN_H CAN_L To prevent the ingression of fluids into the PSW-housing during cooldown, use a special cable with an airtube for pressure balancing of your PSW.
  • Page 8 PSx3xxDN Instruction Manual Switch configurations: PSx30xDN, PSx31xDN-8, PSx31xDN-14, PSx33xDN PSE 34xxDN PSx32xDN, PSE31xxDN Setting the baud rate: Up to firmware version 210: PSx30xDN, PSx31xDN-8, PSx31xDN-14, PSx33xDN, PSx32xDN, PSx31xxDN, PSx34xxDN, OFF OFF 125 kBaud 500 kBaud 250 kBaud 250 kBaud 500 kBaud baud rate is set via bus (default = 125 kBaud) For firmware version 211 and higher PSx30xDN, PSx31xDN,...

  • Page 9: Start-Up

    PSx3xxDN Instruction Manual Start-up Positioning sequence (with reference loop) The PSx3xxDN distinguishes between the following steps of a positioning sequence (Presumption: the target position is always approached through forward motion): New position value is larger than the current value: position approached directly. New position value is smaller than the current value: the device reverses an additional 5/8 of one rotation and approaches the exact position after resuming forward motion.
  • Page 10 PSx3xxDN Instruction Manual  red, flashing: relatively minor error, at least one I/O connection has timed out  red, steady: major error, e.g., bus conflict with another station  red-green, flashing: communication error a) Table of implemented attribute entries The following attributes are part of the PSE object (class ID 100), 1st instance: Description Attr.
  • Page 11 PSx3xxDN Instruction Manual Name Attr. Function Range of Back Delivery value State 31 bit lower limit minimum permissible target position 1200 permissible values: upper limit - 0...250*spindle pitch + reference value maximum value in cNm see table start-up 16 bit table torque time period...
  • Page 12 PSx3xxDN Instruction Manual Name Attr. Function Range of Back Delivery value State control word Bit 0: manual run to larger values 16 bit Bit 1: manual run to smaller values Bit 2: transfer target value (when transferring a target value with the help of the poll I/O connection, a positioning run is only started if this bit is set) Bit 3: release for manual run in jog key...
  • Page 13 PSx3xxDN Instruction Manual Name Attr. Function Range of Back Delivery value State baud rate 0: 125 kBaud 1: 250 kBaud 0...2 2: 500 kBaud 8 bit This value cannot be changed if the baud rate switch is used (i.e. the switch setting is not ON-ON).
  • Page 14 PSx3xxDN Instruction Manual Name Attr. Function Range of Back Delivery value State waiting time time period after the end of run, in which 0...3000 1000 for brake the brake stays released (value in msec) 16 bit (end of run) version software version number 16 bit writing ‘-1’:...
  • Page 15 PSx3xxDN Instruction Manual Name Attr. Function Range of Back Delivery value State control word, release readjustment bit 10 8 bit control word, execute braking-free-run bit 11 8 bit control word, run with drag error correction bit 12 8 bit status word, target position reached bit 0 8 bit...
  • Page 16 PSx3xxDN Instruction Manual Name Attr. Function Range of Back Delivery value State duration of time period at end of run, in which the 0...1000 ‘maximum holding torque at end of run’ maximum 16 bit holding applies (value in msec) torque at end of run acceleration value in rpm per sec.
  • Page 17 PSx3xxDN Instruction Manual Device model 301-x 302-x 305-x 322-14 325-14 328-14 311-x 312-x 315-8 332-14 335-14 Attri Name Range of value bute Delivery State 15...180 target rpm 10...125 3...60 20...150 10...80 5...35 posi target rpm 15...180 10...125 3...60 20...150 10...80 5...35 hand max.
  • Page 18 PSx3xxDN Instruction Manual Device model 3210-14 3218-14 3325-14 3310-14 Attri Name Range of value bute Delivery State 5…40 3…22 2…12 target rpm posi 5…40 3…22 2…12 target rpm hand 5…40 3…22 2…12 max. rpm, counter clockwise 5…40 3…22 2…12 max. rpm, clockwise 25…130 15…70 acceleration...
  • Page 19 PSx3xxDN Instruction Manual Deactivating timeout monitoring for the UCMM connection, for instance, requires the following explicit message:  Message ID = 0  Destination MAC ID = slave address  Service code = 0x10  Class ID = 5  Instance ID = 5 ...
  • Page 20 PSx3xxDN Instruction Manual Byte Meaning Source 0-31 actual value PSE object (class ID 100), instance 1, attr. 3 32-47 status word PSE object (class ID 100), instance 1, attr. 37 48-63 actual rpm PSE object (class ID 100), instance 1, attr. 48 Assembly object (class ID 4), instance 101, attribute 3: Byte Meaning...
  • Page 21 PSx3xxDN Instruction Manual g) Identifiers used for available I/O connections The identifiers used for available I/O connections can be determined from the predefined master/slave connection set: Bits for identifier Meaning 10 9 8 7 6 5 4 3 2 1 0 slave MAC ID 1 0 1 poll command message (master) 1 1 1 1...
  • Page 22 PSx3xxDN Instruction Manual Bit 5: positioning run aborted This bit is set: - if a positioning run is aborted because release in the control word has been withdrawn This bit is reset: - when a new run command is transmitted Bit 6: drive is running This bit is set:...
  • Page 23 PSx3xxDN Instruction Manual 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 (attr. - 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: - by transmitting a valid target value...
  • Page 24 PSx3xxDN Instruction Manual Bit 5: Release for jog key mode with the external keys: If the CAN bus is active, jog key mode via the external keys is only possible if this bit is set and bit 4 is reset. For jog key mode via CAN (bits 8 or 9 in the control word), this bit must not be set.
  • Page 25 PSx3xxDN Instruction Manual j) Quick test for checking the drive and the DeviceNet interface  Switch device off.  Set device address to 63.  Set baud-rate selector switch to 125 kBaud.  Connect both plugs for the motor supply voltage and the CAN plug. ...

  • Page 26: Sequence Of Positioning Steps

    PSx3xxDN Instruction Manual 3 Sequence of positioning steps a) Positioning run - In order to control the drive using I/O connections, you must first establish an explicit connection using the UCMM; this connection is then used to allocate and configure the desired I/O connection.

  • Page 27: Special Features

    PSx3xxDN Instruction Manual - Set control word explicitly to 10h (using the PSE object; class 100, instance 1, attribute 36) - End manual run by withdrawing release: - Poll I/O with control word 0h - Bit strobe with bit 0 - Set control word explicitly to 0h (using the PSE object;...
  • Page 28 PSx3xxDN Instruction Manual The mapping of the desired positioning range to the physical positioning range is done with the help of the parameter ‘upper mapping end’ (attr. 40). In the delivery state, the drive is at position 51200, the upper limit switch is set to 101200 and the lower limit switch is set to 1200, yielding a positioning range of ±125 rotations (±50000 increments).
  • Page 29 PSx3xxDN Instruction Manual of the actual value assessment numerator and denominator a stretching or distension can be reached (see below). 3) When changing the direction of rotation (attr. 44), the referencing value (attr. 4), the upper mapping end (attr. 40) and the upper and lower limit (attr. 22 and 23) are set to delivery state.
  • Page 30 PSx3xxDN Instruction Manual Examples: Spindle pitch Resolution Numerator Denominator factor factor 4 mm 1/100 mm 1 mm 1/100 mm 2 mm 1/10 mm Numerator and denominator factors may take on values between 1 and 10,000. e) Drag error During a positioning run, the device compares the computed target position with the current actual value.
  • Page 31 PSx3xxDN Instruction Manual (for example from jog key mode to positioning by bus) aborts a run in the other operation mode. The operator can adjust the number of increments for a single step via attr. 34. The single step is being executed if one of the external keys is being pressed. If the external key has been released before the end of the single step, it will be completed nevertheless.
  • Page 32 PSx3xxDN Instruction Manual i) Devices with optional friction brake The device model PSE34xxDN can be supplied with an optional friction 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. A run command is not approached immediately but only after a short idle period to tighten the brake.

  • Page 33: Technical Data

    PSx3xxDN Instruction Manual 5 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 34 (approx.) PSx30xDN-8 650 g PSx30xDN-14, PSx32xDN 1200 g PSx31xDN-8 700 g PSx31xDN-14, PSx33xDN 700 g PSE31xxDN 1200 g PSE34xxDN 1900 g For additional specifications and dimension drawings, please visit our website at http://www.halstrup-walcher.de/en/produkte/positioniertechnik/positioniersysteme/index.php 7100.004144L_PSx3xxDN.doc 03/2017 Re...
  • Page 35 PSx3xxDN Instruction Manual...

This manual is also suitable for:

Psw3**dn seriesPss3**dn seriesPse3**dn seriesPs 3 dn series

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