halstrup-walcher PS 3 EIP Series Instruction Manual
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halstrup-walcher PS 3 EIP Series Instruction Manual

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Dokument 7100.005164
Instruction Manual
PSx3xxEIP
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

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  • Page 1 Instruction Manual PSx3xxEIP 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 Dokument 7100.005164...

  • Page 2: Table Of Contents

    Instruction Manual PSx3xxEIP 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 2. Device description ....................5 2.1.
  • Page 3 Instruction Manual PSx3xxEIP Purpose of instruction manual This instruction manual describes the features of the PSx3xx 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 PSx3xxEIP 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. PSx3xx positioning systems are not stand-alone devices and may only be used if coupled to another machine.

  • Page 5: Symbols

    Instruction Manual PSx3xxEIP 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: Installation

    Instruction Manual PSx3xxEIP 2.2. Installation Hollow shaft: The PSx3xx is mounted on the machine by sliding it with the hollow shaft onto the spindle to be driven and fixing it with the clamping ring (recommended shaft diameter 8 h9 or 14 h9; tightening torque of the clamping ring screw with 3 mm hexagon socket: 1.5 Nm).
  • Page 7 Instruction Manual PSx3xxEIP Versions with higher torques (from 10 Nm): Here the force connection is made via a feather key DIN 6885-A5x5x12. The clamping ring is not freely rotatable but consists of two halves, the fixed part of the hollow shaft and the loose clamping clamp. The keyway is located in the half that is fixed to the output shaft.

  • Page 8: Disassembly

    Instruction Manual PSx3xxEIP 2.3. Disassembly To remove the PSx3xx from the shaft, release the clamp (for versions with hollow shaft the clamping ring) and pull the PSx3xx off the shaft. If possible, the PSx3xx should only be pulled axially. Excessive bending back and forth can damage the output shaft! For versions with brake, it is essential to observe the instructions in sections 4.9 and 4.10!

  • Page 9: Round Socket For Bus

    Instruction Manual PSx3xxEIP 2.5.2. Round socket for bus connector pattern assignment type (external top view) 1. TD+(WH/GN, white/green) 2. RD+ (WH/OG, white/orange) M12 (D-cod.); 4-pol. 3. TD- (GN, green) 4. RD- (OG, orange) Due to the use of 4-pin sockets, only four-wire cables should be used.

  • Page 10: Electrical Grounding

    Instruction Manual PSx3xxEIP 2.5.6. 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. The minimum conductor cross-section for this is 1.5mm². 2.6.

  • Page 11: Leds

    Instruction Manual PSx3xxEIP 2.7. LEDs The following LEDs are located under the transparent sealing plug: P1/P2: green LINK LEDs and yellow ACT LEDs for ports 1 and 2 MS: EtherNet/IP Module Status LED NS: EtherNet/IP Network Status LED V_Motor: The LED is illuminated yellow when power is available to the motor. Switch configurations: PSx30x, PSx31x-8, PSx31x-14, PSx33x,...

  • Page 12: Start-Up

    Instruction Manual PSx3xxEIP - red on  duplicate IP address - flashes green  no EtherNet/IP connection to the scanner is established - green on  at least one EtherNet/IP connection to the scanner is established 4) The yellow “motor” LED indicates the motor power supply: ...

  • Page 13: Manual Run

    Instruction Manual PSx3xxEIP (“length of loop”) before the run. With Par. 42 the loop run might also be disabled. The transmission of control word and target value with the help of explicit requests is only possible if NO cyclic process data connection is active. Underwater usage of the PSW is not allowed.
  • Page 14 Instruction Manual PSx3xxEIP configuration: Just before the effective value which a parameter shall receive, a contrrol bit has to be transmitted, which specifys if the drive shall take over or ignore the configuration value. If the configuration value shall be ignored, this control bit has to be set to 0, otherwise it will be taken over.

  • Page 15: Table Of Implemented Parameter Entries (Class 0X64; Instance 1)

    Instruction Manual PSx3xxEIP 2.9.1. Table of implemented parameter entries (class 0x64; instance 1) Name Par. Function Type/ Back Delivery Number Range State Status requests status word Bit 0: target position reached 0 ... Bit 1: drag error 0xFFFF Bit 2: reverse jog key active 16 bit Bit 3: forward jog key active Bit 4: motor power present...
  • Page 16 Instruction Manual PSx3xxEIP Name Par. Function Type/ Back Delivery Number Range State Status requests (continued) device model device model within the PSE series as 16 bit (as number) number (e.g. 31208) device model device model within the PSE series as string (e.g.
  • Page 17 Instruction Manual PSx3xxEIP Name Par. Function Type/ Back Delivery Number Range State Parameter group “position settings” (continued) position These values can be used to set a 1...10000 scaling, desired user resolution to the drive. 16 bit numerator For a numerator factor of 400, the denominator factor holds the spindle pitch per resolution e.g.: spindle pitch 1.5 mm with resolution...
  • Page 18 Instruction Manual PSx3xxEIP Name Par. Function Type/ Back Delivery Number Range State Parameter group “position settings” (continued) maximum drag error before the “drag drag error 0...1000 error” bit is set. 16 bit value in 1/100 mm (for a 4mm spindle and default settings of numerator and denominator) readjustment 46...
  • Page 19 Instruction Manual PSx3xxEIP Name Par. Function Type/ Back Delivery Number Range State Parameter group “time” time elapsed value in msec 50...500 until speed (see also Par. 60) 16 bit falls below speed limit for aborting time period time period at begin of run, in which the 10...1000 “maximum start-up torque”...
  • Page 20 Instruction Manual PSx3xxEIP Name Par. Function Type/ Back Delivery Number Range State Parameter group “others” (continued) writing “-3”: delivery state 113 -3, -2, -1 sets the values of all parameters to the or 1 (writing) delivery state, erases the IP address, sets 0...2 the address assigning method to DHCP (reading)
  • Page 21 Instruction Manual PSx3xxEIP Name Par. Function Type/ Back Delivery Number Range State Parameter group “others” (continued) 31 bit save position drive will move to this position if a connection loss has been connection detected and bits 1-0 of Par. 9 are timeout set to 0x02 no connection is being established...

  • Page 22: Table Of Rated Speed And Torque Values For Various Models Of Gears

    Instruction Manual PSx3xxEIP 2.9.2. 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 PSE and PSS 311-x 312-x 315-8 332-14 335-14 Name Par. No. value range delivery state 5…45 target speed 15...230 10...150...
  • Page 23 Instruction Manual PSx3xxEIP device model PSE 3110 3125 3210-14 3218-14 3310-14 Name Par. No. value range delivery state 1…30 1…12 target speed 5...45 3...30 1…30 1…12 target speed for 5...45 3...30 manual run 9…50 4…20 acceleration 20...117 11...70 9…50 4…20 deceleration 20...117 11...70...

  • Page 24: Process Data Format

    Instruction Manual PSx3xxEIP 2.9.3. Process data format 1) Output assembly (from the perspective of the EIP scanner) Assignment: Byte Description corresponding Par. No. control word not used target value 10-11 12-15 2) Input assembly (from the perspective of the EIP scanner) Assignment: Byte Description...
  • Page 25 Instruction Manual PSx3xxEIP Bit 1: drag error This bit is set: - if during a run (except in the braking phase) the difference between actual target position and actual position exceeds the value which has been set with Par. 44 This bit is reset: - with each new run command Bit 2:...
  • Page 26 Instruction Manual PSx3xxEIP This bit is reset: - when a transferred target position has been reached successfully in the loop direction (not after a manual run) Bit 9: error This bit is set: - if an internal problem is detected when calculating a position No run commands can be executed when the error bit is set! This bit is reset: - only possible by resetting or power-cycle the drive...

  • Page 27: Detailed Description Of Control Bits

    Instruction Manual PSx3xxEIP 2.9.5. Detailed description of control bits Bit 0: manual run to larger values Bit 1: manual run to smaller values Bit 2: transfer target value The target value in the process data is being accepted as a new valid target value, if this bit is set.

  • Page 28: Parameter Interface

    Instruction Manual PSx3xxEIP 2.9.6. Parameter interface Via the parameter interface it’s possible to write and read parameter values by using the cyclic process data connection, besides, also other values might be retrieved from the drive. With the help of the parameter interface the EIP scanner sets and transmits a new command.
  • Page 29 Instruction Manual PSx3xxEIP Request identifier (EIP scanner  drive): Request Function Possible response identifier identifier of drive *) positive negative No request Request parameter value 1 or 2 Modify parameter value (word) Modify parameter value (double word) Request parameter value 4 or 5 (array) Modify parameter value (array,...
  • Page 30 Instruction Manual PSx3xxEIP Error Meaning code Illegal parameter number Parameter value cannot be modified Minimum/maximum limit exceeded Faulty subindex No array Incorrect data type Setting not allowed (resetting only) Request cannot be processed due to operating state Other error When a write request is being completed successfully (e.g. request identifier AK = 2, 3, 7 or 8) the response contains the same data as a read request of this parameter.

  • Page 31: Sequence Of Positioning

    Instruction Manual PSx3xxEIP 3. Sequence of positioning 3.1. Positioning sequence with loop By default, the PSx3xx always approaches each setpoint from the same direction. If a destination is in the opposite direction to the loop direction, the setpoint is first traversed by the value of the loop length (Par.

  • Page 32: Positioning Sequence Without Loop

    Instruction Manual PSx3xxEIP A positioning to the upper end limit (Par. 36) with a loop length > 0 is not possible, since the drive would have to cross the end limit for this. The same applies to the lower end limit (Par. 38) with a loop length < 0. 3.2.

  • Page 33: Response Of Drive In Case Of Manual Displacement (Readjustment)

    Instruction Manual PSx3xxEIP of the control word) and assert it again. Bit 2 (“transfer target value”) has to be set at the same time. The drive then moves on when the release bit is being asserted again. In case the drive is controlled with pure UCMM instead of a cyclic process data connection, deasserting and asserting the release bit by setting Par.
  • Page 34 Instruction Manual PSx3xxEIP ±125 rotations, in delivery state none of the following actions to adjust the positioning range have to be taken. 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...
  • Page 35 Instruction Manual PSx3xxEIP of the position scaling numerator and denominator a stretching or distension can be reached (see below). 3) When changing the direction of rotation (Par. 26), the referencing value (Par. 32), the upper mapping end (Par. 34) and the upper and lower limit (Par. 36 and 38) are set to delivery state.

  • Page 36: Using Position Scaling Factors To Set The Spindle Pitch

    Instruction Manual PSx3xxEIP 4.6. Using position scaling factors to set the spindle pitch Par. 28 (numerator factor) and Par. 30 (denominator factor) can be used to represent any desired spindle pitch: ����������. ������������ number of steps per revolution = 400 * ������������������...

  • Page 37: Devices With "Jog Keys" Option

    Instruction Manual PSx3xxEIP Three possible reactions are provided in the event of a connection failure: 1) If a positioning is in progress, the drive should terminate this positioning as planned and then not start a new positioning as long as there is no connection. This behavior is enabled when par.

  • Page 38: Devices With Optional Snap Brake

    Instruction Manual PSx3xxEIP Connection examples: potential-free switches active signals e.g. from a PLC 4.11. Devices with optional snap brake The device models PSx30x-14, PSx31x-14, PSx32x and PSx33x can be supplied with an optional snap 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.

  • Page 39: Devices With Optional Holding Brake

    Instruction Manual PSx3xxEIP manual adjustement under cover PSx31x-14, PSx33x-14 PSx30x-14, PSx32x-14 4.12. Devices with optional holding brake The device model PSE34xx 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.

  • Page 40: Reference Runs

    Instruction Manual PSx3xxEIP 4.13. Reference runs The PSx3xx 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 41: Technical Data

    Instruction Manual PSx3xxEIP 5. Technical Data 5.1. 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 42: Physical Data

    (l x w x h) see drawings weight (approx.) PSx30x-8 650 g PSx30x-14, PSx32x 1200 g PSx31x-8 700 g PSx31x-14, PSx33x 700 g PSE31xx 1200 g PSE34xx 1900 g For additional specifications and dimension drawings, please visit our website at http://www.halstrup-walcher.de/en/produkte/positioniertechnik/positioniersysteme/index.php...

  • Page 43: Certificate Of Conformity

    Instruction Manual PSx3xxEIP 6. Certificate of Conformity 7100.005164L_PSx3xxEIP.docx 12/2019 Ka...

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