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Related Manuals for halstrup-walcher PS*3**C series
Summary of Contents for halstrup-walcher PS*3**C series
- Page 1 Instruction Manual PSx3xxC 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 7100.004224 03/2017...
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Page 2: Table Of Contents
Instruction Manual PSx3xxC 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 Features ..........................5 Installation Hollow shaft: ...................... - Page 3 Instruction Manual PSx3xxC Purpose of instruction manual This instruction manual describes the features of the PSx3xxC 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 PSx3xxC 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. PSx3xxC positioning systems are not stand-alone devices and may only be used if coupled to another machine. -
Page 5: Symbols
Instruction Manual PSx3xxC 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 PSx3xxC Solid shaft: The PSx3xxC 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 PSx3xxC 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
Instruction Manual PSx3xxC Round plug for CAN bus: Round socket for CAN bus: (external top view) (external top view) housing CAN_H not assigned CAN_L CAN_GND Electrical grounding: Next to the connecting plugs there is a M4 stud bolt. It is recommended to connect the positioning system with a cable as short as possible to the machine base. -
Page 8: Start-Up
Instruction Manual PSx3xxC If the device names are given without the diameter of the output shaft (-8, - 14), the relevant information is valid for all offered output shafts (applies throughout the document). ‘x’ in the device name stands for a number in the range 0..9. ‘xx’ in the device name stands for a number in the range 10..999. -
Page 9: Can Bus
Instruction Manual PSx3xxC CAN Bus CANopen (corresponding to CiA DS 301 Version 4.02) is used as the protocol at the CAN bus interface: one transmit and one receive SDO per device one asynchronous transmit and receive PDO, active by default ... -
Page 10: Communi
Instruction Manual PSx3xxC a) Table of entries implemented from object dictionary Name Index Function Range of Back Delivery number value State returns a “0” when read device model 1000 error register 1001 Bit 0: general error 8 bit Bit 4: communication error error list 1003 sub index 0: quantity of indexes... - Page 11 Instruction Manual PSx3xxC Name Index Function Range of Back Delivery number value State 2000: 10 general purpose registers 16 bit 0...9 31 bit target value 2001 target position to be achieved value in 1/100 mm (for default settings of numerator #2010 and denominator #2011) 31 bit actual value...
- Page 12 Instruction Manual PSx3xxC Name Index Function Range of Back Delivery number value State rpm limit for 201A value in % of the target rpm 30...90 aborting run 16 bit time elapsed 201B value in msec 50...500 until speed 16 bit falls below rpm limit for aborting run...
- Page 13 Instruction Manual PSx3xxC Name Index Function Range of Back Delivery number value 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 (when sending the target values with the help of PDOs, positioning will only take place if this bit is set) Bit 3: release for manual run in jog key...
- Page 14 Instruction Manual PSx3xxC Name Index Function Range of Back Delivery number value State 31 bit upper 2028 definition of the positioning range relative 102400 R/W mapping end to the absolute measuring system permissible values: (1 + ref.value) … (204800 * denominator / numerator - 1 + ref.value) maximum 202B...
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Page 15: Device Model
Instruction Manual PSx3xxC Name Index Function Range of Back Delivery number value State duration of 2043 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 waiting time... -
Page 16: Communi
Instruction Manual PSx3xxC Name Index Function Range of Back Delivery number value State writing ‘-1’: delivery state 204F -1, -2 or generates the delivery state without modifying the CAN address and the baud 16 bit rate (starts initial reference loop, then positioning to the middle of the measurement range) writing ‘-2’:... - Page 17 Instruction Manual PSx3xxC Table of rated speed and torque values for various models of gears device model 301-x 302-x 305-x 322-14 325-14 328-14 PSsE and PSS 311-x 312-x 315-8 332-14 335-14 Name Index value range number delivery state 5…45 target rpm posi 2012 15...230 10...150...
- Page 18 Instruction Manual PSx3xxC device model PSE 3210-14 3218-14 3325-14 3310-14 Index value range Name number delivery state target rpm posi 2012 5...40 3...22 2...12 target rpm hand 2013 5...40 3...22 2...12 maximum rpm, 2020 5...40 3...22 2...12 counterclockwise maximum rpm, 2021 5...40 3...22...
- Page 19 Instruction Manual PSx3xxC b) PDO definition 1) Receive PDO (from the perspective of the PSx3xxC) Identifier: 200h + CAN address (possible values: 201h...27Fh) Assignment (cannot be modified): Byte Description corresponding SDO index number 0-15 control word 2024h 16-31 unused 31-63 target value 2001h 2) Transmit PDO (from the perspective of the PSx3xxC)
- Page 20 Instruction Manual PSx3xxC Bit 4: motor power present This bit is set: - if the supply voltage to the motor is above the Umot limit (SDO #203C) and below 30V This bit is reset: - if the supply voltage to the motor is below the Umot limit or above 30V Bit 5: positioning run aborted This bit is set:...
- Page 21 Instruction Manual PSx3xxC Bit 11: manual displacement This bit is set: - if, while on standstill, the drive is turned externally by more than the value in the positioning window This bit is reset: - by transmitting a new positioning command - after an initial reference loop has been executed correctly Bit 12: incorrect target value This bit is set:...
- Page 22 Instruction Manual PSx3xxC Bit 4: Release: Run commands will only be executed if this bit is set (exception is the jog key mode with the external keys or with bits 8/9 of the control word). This bit must be set for positioning runs, manual runs and must not be set for jog runs.
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Page 23: Sequence Of Positioning
Instruction Manual PSx3xxC 3 Sequence of positioning a) Positioning run - The drive must be set to CANopen ‘operational mode’ before it can be controlled using PDOs. - Transfer target value (PDO with control word = 0014h and target value, or target value to SDO #2001): drive begins run - Abort run by resetting the release bit (transmit PDO with control word = 0000h or transmit SDO #2024 with value 0000h). - Page 24 Instruction Manual PSx3xxC decreases during the approach to the destination successively in order to realize a harmonic transient behaviour. b) Response of drive in case of block or manual displacement If during a run due to load the speed falls below the threshold parameter of 30% of the selected maximum speed (SDO #201A) for longer than 200 msec (SDO #201B), the device detects blocking, aborts the run and sets the ‘positioning error’...
- Page 25 Instruction Manual PSx3xxC 2) Mount the drive in any position on the axle, close the collar, then adjust the positioning range with the help of SDO #2028. SDO #2028 defines the upper end of the positioning range. By default, the upper end is at +256 rotations (position 102400).
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Page 26: Consumer
Instruction Manual PSx3xxC Referencing value (SDO #2004): The referencing process affects all transferred values, i.e., the target value, actual value, upper mapping end and upper and lower limit. There are two ways of setting the referencing value: 1) Directly, by writing the referencing value to SDO #2004. 2) Indirectly, by writing an actual value to SDO #2003. -
Page 27: Transmit
Instruction Manual PSx3xxC In the first case (node guarding), guard time and life time factors must be programmed into the drive. The master then must cyclically transmit the heartbeat to the drive as a remote object. In the second case (heartbeat consumer), node ID and cycle time of the master heartbeat must be sent to the device as consumer heartbeat. - Page 28 Instruction Manual PSx3xxC CANopen state is ‘preoperational’, bit 3 of the control word is without meaning. The continuous manual run is always enabled under these conditions. The idle period before the drive switches into manual run is specified in SDO #2023. In manual run the drive runs maximum to the specified limit switch position (SDO #2016 or #2017).
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Page 29: Positioning
Instruction Manual PSx3xxC 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 (see drawings at the end of these instructions). The drive can then be rotated using a hex wrench NW4. -
Page 30: Technical Data
Instruction Manual PSx3xxC 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 msec 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 31: Maximum
PSx30xC-8 650 g PSx30xC-14, PSx32xC 1200 g PSx31xC-8 700 g PSx31xC-14, PSx33xC 700 g PSE31xxC 1200 g PSE32xxC 1350 g PSE33xxC 1350 g PSE34xxC 1900 g For additional specifications and dimension drawings, please visit our website at http://www.halstrup-walcher.de/en/produkte/positioniertechnik/positioniersysteme/index.php 7100.004224L_PSx3xxC.doc 03/2017... - Page 32 Instruction Manual PSx3xxC...
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