Table of Contents
Related Manuals for halstrup-walcher PS 3 EC Series
Summary of Contents for halstrup-walcher PS 3 EC Series
- Page 1 Instruction Manual PSx3xxEC 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 7100.004474...
-
Page 2: Table Of Contents
Instruction Manual PSx3xxEC Table of Contents Safety precautions ......................4 Appropriate use ....................4 Shipping, assembly, electrical connections and start-up ........4 Troubleshooting, maintenance, repairs, disposal ..........4 Symbols ....................... 5 Device description ......................5 Features ....................... 5 Installation ......................5 Disassembly ...................... - Page 3 Instruction Manual PSx3xxEC Purpose of instruction manual This instruction manual describes the features of the PSx3xxEC 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 PSx3xxEC 1 Safety precautions 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 PSx3xxEC 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. CAUTION! This warns you of a potential hazard that could lead to significant property damage if corresponding instructions are not followed INFORMATION! This indicates that the corresponding information is important... - Page 6 Instruction Manual PSx3xxEC The rotation lock is made via the pin (in the picture below the hollow shaft) into a suitable bore as rotary torque support. This hole must be slightly larger than the diameter 6 h9 of the pin. An oblong hole or slot with a slightly larger width (recommended: 6.05...6.10 mm) than the dimension of the pin diameter is optimal.
-
Page 7: Disassembly
Instruction Manual PSx3xxEC Solid shaft: The PSx3xx is installed on the machine by mounting the drive to the axis to be driven using a coupling and an intermediate flange. Under no circumstances may the housing cover be used for the purpose of the transmission of force. -
Page 8: Pin Assignment
Instruction Manual PSx3xxEC Pin assignment Please take care that the mating connectors and the used cables match the connectors in the PSx3xx and are mounted correctly, in order to achieve the protection class. 2.5.1 Supply voltage connector connector pattern assignment type/producer (external top view) 1. -
Page 9: Connector For Jog Keys
Instruction Manual PSx3xxEC 2.5.4 Connector for jog keys connector pattern assignment type/producer (external top view) 1. +24V (output) M8; 4-pol. 2. forward key 3. reverse key 4. GND 2.5.5 Connector-option -2Y- Two Y-coded bushings for bus and control supply One A-coded connector for motor supply connector pattern assignment type... -
Page 10: Leds
Instruction Manual PSx3xxEC LEDs The following LEDs are located under the transparent sealing plug: P1/P2: green link LEDs for ports 1 and 2 ECAT: EtherCAT STATUS LED (green/red; see EtherCAT spezification) V-Motor: The LED is illuminated yellow when power is available to the motor. PSx30xEC, PSx31xEC-8 PSx31xEC-14, PSx33xEC PSx32xEC, PSE31xxEC... -
Page 11: Start-Up
Instruction Manual PSx3xxEC Start-up After the supply voltage has been hooked up, a positioning or manual run can begin immediately. 2.8.1 Positioning sequence (with loop) - To be able to control the drive with the help of PDOs, it has to be switched to the ESM state “operational”. -
Page 12: Manual Run
Instruction Manual PSx3xxEC 2.8.3 Manual run - Start manual run (transmit PDO with control word = 0x11 resp. 0x12 or, if pre- operational, transmit SDO #2024 with value 0x11 resp. 0x12): device begins to run - End manual run by clearing the manual run command (transmit PDO with control word = 0x10 or, if pre-operational, transmit SDO #2024 with value 0x10) or by deasserting release (transmit PDO with control word = 0x00 or, if pre-operational, transmit SDO #2024 with value 0x00). -
Page 13: Table Of Entries Implemented From Object Dictionary
Instruction Manual PSx3xxEC 2.9.1 Table of entries implemented from object dictionary Name Index Function Range of Back Delivery number value State returns a “0” when read Device Type 1000 Manufacturer 100A denotes the software of the EtherCAT Software drives; when being read the string “PSx3xxIE/ECAT”... - Page 14 Instruction Manual PSx3xxEC Name Index Function Range of Back Delivery number value State general 2000 10 general purpose registers purpuse 0...10 sub index 0: quantity of indexes (= 10) 8 bit register sub 1..10: general purpose registers 16 bit 31 bit target value 2001 target position to be achieved...
- Page 15 Instruction Manual PSx3xxEC Name Index Function Range of Back Delivery number value State 31 bit upper limit 2016 maximum permitted target position 101200 minimum value: upper mapping end - 253 revolutions maximum value: upper mapping end - 3 revolutions Changes only possible when at standstill 31 bit lower limit 2017...
- Page 16 Instruction Manual PSx3xxEC Name Index Function Range of Back Delivery number value State status word 2025 Bit 0: target position reached 0..FFFFh Bit 1: drag error 16 bit Bit 2: reserved Bit 3: reserved Bit 4: motor power present Bit 5: positioning run aborted Bit 6: drive is running Bit 7: temperature exceeded Bit 8: movement opposite loop direction...
- Page 17 Instruction Manual PSx3xxEC Name Index Function Range of Back Delivery number value State maximum 2031 maximum torque occurring during the 16 bit torque most recent run (start phase, during which the maximum start-up torque applies, see SDOs #2018/2019, and the phase when the drive is braking down, are not considered) value in cNm...
-
Page 18: Table Of Rated Speed And Torque Values For Various Models Of Gears
Instruction Manual PSx3xxEC Name Index Function Range of Back Delivery number value State writing “-2”: delivery state 204F -2, -1 or sets the values of all parameters to the (writing) values which are saved last by the user, 0..2 without saving the parameters in the (reading) EEPROM 16 bit... - Page 19 Instruction Manual PSx3xxEC device model PSW 301-x 302-x 305-x 328-14 311-x 312-x 315-8 Name Index value range number delivery state 5…35 target rpm posi 2012 15...180 10...125 3...60 20...150 10...80 5…35 target rpm hand 2013 15...180 10...125 3...60 20...150 10...80 22…100 acceleration 201C...
-
Page 20: Pdo Definition
Instruction Manual PSx3xxEC device model PSE 338-14 3325 3410 3418 Name Index value range number delivery state target rpm posi 2012 8...85 2...18 10...100 10...90 target rpm hand 2013 8...85 2...18 10...100 10...90 acceleration 201C 37...200 8...45 20...350 10...315 deceleration 201D 37...200 8...45... - Page 21 Instruction Manual PSx3xxEC 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 SDO #2005 This bit is reset: - with each new run command Bit 2:...
- Page 22 Instruction Manual PSx3xxEC 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 Bit 10: positioning error (block) This bit is set: - if a positioning run or a manual run is aborted because the device is...
-
Page 23: Detailed Description Of Control Bits
Instruction Manual PSx3xxEC 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 When transferring target values with the help of PDOs, the target value in the PDO will be taken over if this bit is set. -
Page 24: Sequence Of Positioning
Instruction Manual PSx3xxEC 3 Sequence of positioning Positioning run (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 (SDO #201F) and then finally approached. This can, for example, eliminate the backlash of a driven spindle. -
Page 25: Positioning Run (Without Loop)
Instruction Manual PSx3xxEC After reaching the target position, this position is compared with the internal absolute encoder status. If there is a deviation, the status bit "Error" is set (bit 9 in the status word). In the delivery state, the loop length is -250, i.e. each setpoint position is approached in the forward direction. -
Page 26: Response Of Drive In Case Of Block
Instruction Manual PSx3xxEC Response of drive in case of block 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 27 Instruction Manual PSx3xxEC 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 28 Instruction Manual PSx3xxEC 3) When changing the direction of rotation (SDO #202C), the referencing value (SDO #2004), the upper mapping end (SDO #2028) and the upper and lower limit (SDO #2016 and #2017) are set to delivery state. 4) When changing the upper mapping end (SDO #2028), the upper limit (SDO #2016) will be set to the value [upper mapping end - 3 rotations x scaling] and the lower limit (SDO #2017) to the value [upper mapping end - 253 rotations x scaling].
-
Page 29: Using Actual Value Assessment Factors To Set The Spindle Pitch
Instruction Manual PSx3xxEC Using actual value assessment factors to set the spindle pitch SDO #2010 (numerator factor) and #2011 (denominator factor) can be used to represent any desired spindle pitch: ����������. ������������ number of steps per revolution = 400 * ������������������... -
Page 30: Devices With "Jog Keys" Option
Instruction Manual PSx3xxEC Devices with “Jog keys” option 4.10 External jog buttons can be used to move the drive when the bus connection is inactive. When the bus connection is active, the external jog buttons can be enabled via bits 3 and 5 in the control word (see section Fehler! Verweisquelle konnte nicht gefunden werden.). -
Page 31: Devices With Optional Snap Brake
Instruction Manual PSx3xxEC Devices with optional snap brake 4.11 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 32: Devices With Optional Holding Brake
Instruction Manual PSx3xxEC Devices with optional holding brake 4.12 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. A run command is not approached immediately but only after a short idle period to tighten the brake. -
Page 33: Reverse Drive
Instruction Manual PSx3xxEC 2) Now start the reference run as manual run (set bit 0 or 1 and the release bit in the control word). 3) Wait for the drive moving (bit 6 in the status word is set). 4) Wait for the drive has stopped and a positioning error has appeared (bit 6 in the status word is cleared, bit 10 is set). -
Page 34: Technical Data
Instruction Manual PSx3xxEC 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 35: Physical Data
(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 36: Certificate Of Conformity
Instruction Manual PSx3xxEC 6 Certificate of Conformity 7100.004474K_PSx3xxEC.doc 12/2019 Re/Me/Ka...