halstrup-walcher PSE2 Mod Series Instruction Manual
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halstrup-walcher PSE2 Mod Series Instruction Manual

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Document 7100.005204
Instruction Manual
PSE2xxMod
07/2017
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

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  • Page 1 Instruction Manual PSE2xxMod 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 7100.005204 07/2017...

  • Page 2: Table Of Contents

    Instruction Manual PSE2xxMod 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 2.1 Features ........................... 5 2.2 Installation ........................
  • Page 3 Instruction Manual PSE2xxMod Purpose of instruction manual This instruction manual describes the features of the PSE2xxMod 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 PSE2xxMod 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. PSE2xxMod positioning systems are not stand-alone devices and may only be used if coupled to another machine.

  • Page 5: Symbols

    Instruction Manual PSE2xxMod 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 PSE2xxMod 2.2 Installation PSE2xxMod with hollow shaft: The PSE2xxMod 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(recommended diameter of the axis is 8 H9 or 10 H9). 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

    Instruction Manual PSE2xxMod 2.5 Setting the device address and baud rate 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 position 00 the address can be changed via the Modbus with HR 38.

  • Page 8: Leds

    Instruction Manual PSE2xxMod 2.7 LEDs The green LED represents the state of the motor supply voltage, the red and yellow LED represent the Modbus and the device state. Yellow LED Switched ON during frame reception or sending. Red LED Switched ON: internal fault Flashing: Other faults Green LED Switched ON: device powered (motor supply)

  • Page 9: Modbus

    Instruction Manual PSE2xxMod 2.9 Modbus The Modbus transmission mode “RTU” is used as the protocol at the Modbus EIA/TIA-485 interface. The transmission mode “ASCII” is not supported. The default baudrate is 19200 bps. The supported setting for the serial port is 8-N-2 (8 data bits, no parity, 2 stop bits).
  • Page 10 Instruction Manual PSE2xxMod Table of all Holding Registers: Reg. Name Function Type/ Back Delivery Range State Status requests status word Bit 0: target position reached 16 bit Bit 1: drag error unsigned 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...
  • Page 11 Instruction Manual PSE2xxMod Reg. Name Function Type/ Back Delivery Range State Status requests (continued) 10-11 reserved 16 bit production date year and week of manufacturing 16 bit (given as an integer) unsigned YYWW serial number serial device number 16 bit unsigned device model device model within the PSE...
  • Page 12 Instruction Manual PSE2xxMod Reg. Name Function Type/ Back Delivery Range State Bus settings (continued) baud rate 0: 1200 bps, 1: 2400 bps, 2: 4800 16 bit bps, 3: 9600 bps, 4 :19200 bps, 5: unsigned 0…8 38400 bps, 6: 57600 bps, 7: 76800 bps, 8: 115200 bps This value cannot be changed if the baud rate switch is used (i.e.
  • Page 13 Instruction Manual PSE2xxMod Reg. Name Function Type/ Back Delivery Range State Position settings (continued) referencing value correction factor for the target, actual and limit switch values (Byte 1-0) upper mapping definition of the positioning range 32 bit 27200 end High relative to the absolute measuring signed (Byte 3-2)
  • Page 14 Instruction Manual PSE2xxMod Reg. Name Function Type/ Back Delivery Range State Velocity settings target rpm value in rpm 16 bit posi maximum rpm to be used for unsigned positioning runs target rpm, value in rpm 16 bit counter- maximum rpm to be used for unsigned clockwise positioning runs counter-clockwise...
  • Page 15 Instruction Manual PSE2xxMod Reg. Name Function Type/ Back Delivery Range State Time settings (continued) time period for value in msec 16 bit start-up torque (see HR 76) unsigned 10…1000 reserved 16 bit idle period for value in msec 16 bit direction change idle period when reversing the unsigned...
  • Page 16 Instruction Manual PSE2xxMod Reg. Name Function Type/ Back Delivery Range State Other commands delivery state reading directly after boot: 16 bit (value) = 0 signed  content of memory correct -2…3 (value) > 0  content of memory incorrect reading after saving: (value) = 0 ...
  • Page 17 Instruction Manual PSE2xxMod Reg. Name Function Type/ Back Delivery Range State Other commands (continued) device reset reading: always 0 16 bit writing ‘0’: no action unsigned writing ‘1’: resets the device 0…1 118- reserved 16 bit Table of rated speed and torque values for various models of gears device 211-08 212-08...
  • Page 18 Instruction Manual PSE2xxMod 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 19 Instruction Manual PSE2xxMod Bit 8: movement opposite loop direction This bit is set: - during a manual run in the direction opposite that of the loop direction (a subsequent manual run in the loop direction will not reset this bit) - during a positioning sequence in the direction opposite that of the loop direction This bit is reset:...
  • Page 20 Instruction Manual PSE2xxMod Bit 13: motor power was missing This bit is set: - if the power to the motor is less than the Umot limit (HR 104) when initiating a positioning run or an initial reference loop - if during a run the voltage falls below the Umot limit - if during a run an overcurrent error occurs This bit is reset: - if the power to the motor is above the Umot limit when initiating a positioning...
  • Page 21 Instruction Manual PSE2xxMod Bit 11: reserved, must be programmed to 0 Bit 12: Run with drag error correction: If the bit is set, the drive trys (under consideration of the configured maximum torque) to compensate a drag error which has been developped. By controling the rpm on a value which is slightly above or below the configured ‘target rpm posi’...

  • Page 22: Sequence Of Positioning

    Instruction Manual PSE2xxMod 3 Sequence of positioning a) Positioning run - Transfer target value (control word HR 32 = 0x0010h and target value HR 33/34): drive begins run - Abort run by resetting the release bit (control word HR 32 = 0x0000h). - If a new target value is transferred during a positioning run, the device will immediately proceed to the new target.
  • Page 23 Instruction Manual PSE2xxMod 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% (HR 70) of the selected maximum speed for longer than 200 msec (HR 83), the device detects blocking, aborts the run and sets the ‘positioning error’...
  • Page 24 Instruction Manual PSE2xxMod Remarks: 1) The 3 parameters “referencing value” (HR 48/49), “actual value assessment, numerator” (HR 45) and “actual value assessment, denominator” (HR 46) 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 25 Instruction Manual PSE2xxMod 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 26 Instruction Manual PSE2xxMod 5) When changing the actual value assessment numerator or denominator (HR 45 or HR 46), the target value, the actual value, the referencing value, the upper mapping end, the upper and lower limit, the positioning window (HR 56) and the length of loop (HR 57/58) are recalculated.
  • Page 27 Instruction Manual PSE2xxMod 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. f) Drag error During a positioning run, the device compares the computed target position with the current actual value.
  • Page 28 Instruction Manual PSE2xxMod 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). 5) Start a manual run in the opposite direction with the same settings (move a certain distance away from the hard stop in order the drive can move freely).

  • Page 29: Technical Data

    Instruction Manual PSE2xxMod 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 30 Instruction Manual PSE2xxMod Physical data positioning range Variants with partially absolute measuring system (“singleturn”): value range for positions: -223…223, no mechanical limits Variants with absolute measuring system (“multiturn”): 64 rotations, no mechanical limits measuring system has a span of 68 turns, minus 2 turns security stock at upper and lower range limit torsional rigidity max.

  • Page 31: Dimension Drawings

    Instruction Manual PSE2xxMod 6 Dimension drawings Ø 8H9/20 deep or 10H9/25 deep 7100.005204D_PSE2xxMod.DOC 17.07.17 Re/Ka...

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