halstrup-walcher PSE2 C Series Instruction Manual
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halstrup-walcher PSE2 C Series Instruction Manual

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Instruction Manual PSE2xxC
Instruction Manual
PSE2xxC
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.de
Internet: www.halstrup-walcher.de
Document 7100.004304E 07/2017

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  • Page 1 Instruction Manual PSE2xxC 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.de Internet: www.halstrup-walcher.de Instruction Manual PSE2xxC Document 7100.004304E 07/2017...

  • Page 2: Table Of Contents

    Instruction Manual PSE2xxC 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 ..........................4 Device description ........................5 2.1 Features ........................... 5 2.2 Installation ........................
  • Page 3 Instruction Manual PSE2xxC Purpose of instruction manual This instruction manual describes the features of the PSE2xxC 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.

  • Page 4: Safety Precautions

    Instruction Manual PSE2xxC 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. PSE2xxC positioning systems are not stand-alone devices and may only be used if coupled to another machine.

  • Page 5: Device Description

    Instruction Manual PSE2xxC 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. CAUTION! This warns you of a potential hazard that could lead to significant property damage if corresponding instructions are not followed.

  • Page 6: Installation

    Instruction Manual PSE2xxC Installation PSE2xxC with hollow shaft: The PSE2xxC is mounted onto the machine by sliding the hollow shaft of the positioning gear onto the axis to be driven and then securing it with an adjustable collar. The adjustable collar should be tightened only just to the point where it can no longer rotate freely.

  • Page 7: Setting The Device Address And Baud Rate (Option)

    Instruction Manual PSE2xxC Setting the device address and baud rate (Option) The rotary switches for setting the device address at the bus and a 2-pin sliding switch for setting the baud rate are located behind the terminals. The rotary switches indicate the tens and ones places of the address selected. If the switches are resting in the positions 00 or 01 the address is set using the CAN bus with SDO #2026.

  • Page 8: Can Bus

    Instruction Manual PSE2xxC 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. New position value after reverse run without loop: The device always approaches the position by moving in forward direction;...
  • Page 9 Instruction Manual PSE2xxC 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 10 Instruction Manual PSE2xxC Name Index Function Range of Back Delivery number value State 10 general 2000: to archive any kind of data (e.g. the 16 bit purpose 0...9 function of a drive within an installation) registers 31 bit target value 2001 target position to be achieved value in 1/100 mm (for default settings of...
  • Page 11 Instruction Manual PSE2xxC Name Index Function Range of Back Delivery number value State time period 2019 value in msec 10...1000 for start-up 16 bit torque rpm limit for 201A value in % of the target rpm 10...90 aborting run 16 bit time elapsed 201B value in msec...
  • Page 12 Instruction Manual PSE2xxC 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 transferring a target value with the help of PDOs, a positioning run is only started if this bit is set) Bit 3: release for manual run in jog run...
  • Page 13 Instruction Manual PSE2xxC Name Index Function Range of Back Delivery number value State baud rate 2027 0: 50 kBaud 1: 125 kBaud 0...4 2: 250 kBaud 3: 500 kBaud 16 bit 4: 1000 kBaud This value cannot be changed if the baud rate switch is used (i.e.
  • Page 14 Instruction Manual PSE2xxC Name Index Function Range of Back Delivery number value State production 2040 year and week of manufacturing YYWW date (given as an integer) 16 bit serial number 2041 serial device number 0...65535 16 bit device model 204D One of the following device models of the 16 bit PSE series (5-digit numbers show the...
  • Page 15 Instruction Manual PSE2xxC Table of rated speed and torque values for various models of gears Device 211-08 212-08 231-08 232-08 model Index value range value range value range value range Name number delivery state delivery state delivery state delivery state 6…60 6…30 6…120...
  • Page 16 Instruction Manual PSE2xxC c) Detailed description of status bits Bit 0: target position reached This bit is set: - when a transferred target position has been reached successfully - after running an initial reference loop, when the actual value corresponds to the previously transferred target value This bit is reset: - after transferring a target position if the difference from the actual value is...
  • Page 17 Instruction Manual PSE2xxC - during a positioning sequence in the direction opposite that of the loop direction This bit is reset: - when a transferred target position has been reached successfully (in the loop direction) - after the initial reference loop Bit 9: flash memory or encoder error This bit is set:...
  • Page 18 Instruction Manual PSE2xxC - if a limit value is modified such that the current position lies beyond the limit - if, while on standstill, by means of an external force the drive is moved to a position which is outside the area which is defined by the range limits This bit is reset: - by initiating a positioning run, an initial reference loop or a manual run d) Detailed description of control bits...
  • Page 19 Instruction Manual PSE2xxC decreases. The drag error correction operates only in positioning runs, i.e. not in manual runs or in jog run mode. Furthermore it operates only while accelerating and cruising with constant rpm, not while decelerating. The time- dependent setting value for the rpm while accelerating arises out of the rpm at beginning of the positioning as well as the acceleration setting (SDO #201C).

  • Page 20: Sequence Of Positioning

    Instruction Manual PSE2xxC 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 21 Instruction Manual PSE2xxC deceleration decreases during the approach to the destination successively in order to realize a harmonic transient behavior. 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 22 Instruction Manual PSE2xxC Remarks: 1) The 3 SDOs referencing value (SDO #2004), actual value assessment, numerator (SDO #2010) and actual value assessment, denominator (SDO #2011) have an influence on the increment and position values: With the help of the referencing value a shift can be reached, with the help of the actual value assessment numerator and denominator a stretching or distension can be reached (see below).
  • Page 23 Instruction Manual PSE2xxC 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.
  • Page 24 Instruction Manual PSE2xxC upper mapping end, the upper and lower limit, the positioning window (SDO #2006) and the length of loop (SDO #201F) are re-calculated. 6) When changing the referencing value (SDO #2004), the target value, the actual value, the upper mapping end and the upper and lower limit are re-calculated. 7) If the user wants to go over any automatic re-calculation of values when setting up the device, the optimum order of transfering the parameter is the following: a) direction of rotation (SDO #202C),...
  • Page 25 Instruction Manual PSE2xxC f) Drag error During a positioning run, the device compares the computed target position with the current actual value. If the difference is larger than the ‘drag error’ value (SDO #2005), the device sets the corresponding bit in the status word. This situation is especially likely to occur if external factors (required torque, voltage to motor too low) prevent the device from achieving the target rpm.
  • Page 26 Instruction Manual PSE2xxC 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: set the maximum torque (SDO #2014) and the maximum start-up torque (SDO #2018) to max.

  • Page 27: Technical Data

    Instruction Manual PSE2xxC 5 Technical data Ambient conditions ambient temperature 0 °C to +45 °C storage temperature -10 °C to +70 °C 50 g 11 msec shock resistance according to 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 28 Instruction Manual PSE2xxC Physical data positioning range Variants with partially absolute measuring system (“singleturn“): …2 value range for positions: -2 , no mechanical limits Variants with absolute measuring system (“multiturn“): 64 rotations, no mechanical limits torsional rigidity max. 0.2° (angle of rotation when switching from operation without backlash to maximum torque) gear backlash (without spindle...

  • Page 29: Dimension Drawings

    Instruction Manual PSE2xxC 6 Dimension drawings...

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