halstrup-walcher PS 3 PL-STO Series Original Instruction Manual
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Summary of Contents for halstrup-walcher PS 3 PL-STO Series
- Page 1 Instruction Manual PSx3xxPL Original Instruction Manual PSx3xxPL-STO 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 7100.006754...
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Page 2: Revision Overview
4.12 Manual turning (new); 5.1 Technical data (additions) 5.2 Electrical Date (additions) Accessories PSx3xxPL-STO series We offer you the corresponding supply and data plugs for all unit types. Please contact our sales department, stating the complete type designation, at the following e-mail address Vertrieb@halstrup-walcher.de... -
Page 3: Purpose Of Instruction Manual
Instruction Manual PSx3xxPL Purpose of instruction manual This document describes the safety relevant fundamentals and expected key figures when using the positioning system PSx3xx with STO (Safe Torque Off) sub safety function. Improper use of these devices or failure to follow these instructions may cause injury or equipment damage. -
Page 4: Table Of Contents
Instruction Manual PSx3xxPL Table of Contents Revision Overview ....................... 2 Accessories PSx3xxPL-STO series ..................2 Purpose of instruction manual .................... 3 Conformity ..........................3 Safety precautions......................6 Appropriate use ....................6 Shipping, assembly, electrical connections and start-up ........6 Troubleshooting, maintenance, repairs, disposal ..........6 Symbols ...................... - Page 5 Instruction Manual PSx3xxPL Devices with “Jogkeys” option ................40 4.11 4.12 Manual turning with the adjustment facility ............41 4.13 Devices with optional snap brake ..............41 4.14 Reference runs ....................42 4.15 Reverse drive ....................42 4.16 Safe Torque Off ....................43 Technical Data ......................
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Page 6: Safety Precautions
Instruction Manual PSx3xxPL 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 7: Symbols
Instruction Manual PSx3xxPL 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. -
Page 8: Device Description
Instruction Manual PSx3xxPL Device Description Features The PSx3xx positioning system, an intelligent, compact, complete solution for positioning auxiliary and positioning axes, consists of an EC motor, gear power amplifier, control electronics, absolute measuring system and POWERLINK interface. The integrated absolute measuring system eliminates the need for a time-consuming reference run. - Page 9 Instruction Manual PSx3xxPL 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.
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Page 10: Disassembly
Instruction Manual PSx3xxPL 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. 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. -
Page 11: Pin Assignment
Instruction Manual PSx3xxPL 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 and STO connector (24VDC/STO) connector pattern assignment type... -
Page 12: Electrical Grounding (Chassis)
Instruction Manual PSx3xxPL 2.5.5 Electrical grounding (Chassis) 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 wire cross section therefor is 1.5mm². Setting the device address Removing the protective cap provides access to two rotary switches for setting the device address at the bus. -
Page 13: Start-Up
Instruction Manual PSx3xxPL Start-up After the supply voltage has been hooked up, a positioning or manual run can begin immediately. For the start-up of the STO safety function see separate safety manual (Document No. 7100.006654). 2.8.1 Positioning run - To be able to control the drive with the help of PDOs, it has to be switched to the CN cycle state “operational”. -
Page 14: Manual Run
Instruction Manual PSx3xxPL 2.8.2 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 15: Table Of Entries Implemented From Object Dictionary
Instruction Manual PSx3xxPL 3) The red Powerlink LED “Bus Error” (BE) signalizes an error: - Off no error - On error 4) The yellow LED “Motor” indicates the supply voltage for the motor: - Off supply voltage for motor too low or too high - On ... - Page 16 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State general 2000 10 general purpose registers purpose 0...10 sub index 0: quantity of indexes (= 10) 8 bit register sub 1..10: general purpose registers 32 bit 31 bit target value 2001 target position to be achieved...
- Page 17 Instruction Manual PSx3xxPL 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 18 Instruction Manual PSx3xxPL 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 Bit 3: Enable manual operation in jog mode Bit 4: release: The axle will only run if this bit is set.
- Page 19 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State 15 bit actual rpm 2030 value in rpm 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);...
- Page 20 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State configuration 2049 Bits 1-0: configuration for connection 16 bit timeout (if a connection has been connection established and lost) timeout 0x00: continue moving (drive will continue moving to the actual target position) 0x01: drive will abort any positioning 0x02: drive will move to a save position which is defined by SDO #204A...
- Page 21 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State writing “-6”: delivery state 204F -6…-1 resets the drive (equal to switching off or 1 (writing) and on again the control power supply) 0...2 writing “-5”: (reading) sets the values of all parameters to the ±15 bit delivery state, saves all parameters in the...
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Page 22: Table Of Rated Speed And Torque Values For Various Models Of Gears
Instruction Manual PSx3xxPL 2.9.2 Table of rated speed and torque values for various models of gears device model PSE and 301-x 302-x 305-x 328-14 311-x 312-x 315-8 Index Name Range of value number Delivery State 5…45 target rpm posi 2012 15...230 10...150 3...70... -
Page 23: Pdo Definition
Instruction Manual PSx3xxPL device model PSE 3110 3125 3210-x 3218 3325 3310-x Index Name Range of value number Delivery State 1…30 1…12 target rpm posi 2012 5...45 2...18 3...30 1…30 1…12 target rpm hand 2013 5...45 2...18 3...30 9…50 4…20 acceleration 201C 20...117... -
Page 24: Detailed Description Of The Status Bits
Instruction Manual PSx3xxPL 2.9.4 Detailed description of the status bits Bit 0: target position reached This bit is set: - when a transferred target position has been reached successfully (not at the end of a manual run, elsewise the target position is the same as the applicable limit switch) - after manual displacement while at standstill, if readjustment is activated and the absolute value of the difference of actual and target value is smaller or... - Page 25 Instruction Manual PSx3xxPL Bit 5: positioning run aborted This bit is set: - if a positioning run is aborted because release in the control word has been withdrawn or because of an invalid bit combination in the control word This bit is reset: - with each new run command Bit 6: drive is running...
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Page 26: Detailed Description Of Control Bits
Instruction Manual PSx3xxPL Bit 12: incorrect target value This bit is set: - when a transferred target value lies outside of the limit switches; also caused, for instance, because of the actual value of the reference value (SDO #2004) - when a transferred target value lies inside of the limit switches; but because of a necessary loop run the specified interval would be left This bit is reset: - with each new run command... - Page 27 Instruction Manual PSx3xxPL If bit 2 is not set, the target value of the PDO will not be taken over, instead there might be commanded positioning runs with the help of SDOs (also in the state “operational”). In the state “pre-operational” the bit is without meaning. Bit 3: Enable manual movement in jog mode In jog mode (movement by keys if bit 5 is set;...
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Page 28: Sequence Of Positioning
Instruction Manual PSx3xxPL 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 29: Positioning Run Without Loop
Instruction Manual PSx3xxPL 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 30: Specials
Instruction Manual PSx3xxPL Specials Speed, acceleration and deceleration Manual runs are performed at the maximum speed specified in SDO #2013; positioning runs are performed at the maximum speed specified in SDO #2012. For all runs the maximum acceleration in SDO #201C and the maximum deceleration in SDO #201D apply. -
Page 31: Readjustment In Case Of Manual Displacement Externally
Instruction Manual PSx3xxPL Readjustment in case of manual displacement externally If after a correctly finished positioning run (or a manual run to the range limit) during standstill the PSx3xx is displaced by external force opposite to the loop direction and the release bit (bit 4 in the control word) is set and the readjustment function (SDO #2047) is enabled, the device will attempt to reach the previously transmitted target value once again (readjustment). - Page 32 Instruction Manual PSx3xxPL b) Move the axle completely to the left (resp. bottom), then move the drive at no- load (with opened collar) without loop to the lowest position (position 1200), then close the collar. The drive is now capable of moving 250 rotations (±100000 increments by default) to the right (resp.
- Page 33 Instruction Manual PSx3xxPL 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. If the values of the upper mapping end (SDO #2028) and/or the limit switches (SDO #2016 and #2017) are sent by default each time the unit starts up, the new referencing value must be included in these values if necessary.
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Page 34: Use Of The "Upper Mapping End" Parameter
Instruction Manual PSx3xxPL Use of the “Upper mapping end” parameter The following chapter illustrates the use of the parameter “upper mapping end” both graphically and by means of examples: 4.6.1 Delivery state In the delivery state (“DS”), the actual position is exactly in the middle of the positioning range. -
Page 35: Shifting The Positioning Range Downwards Starting From The Delivery State
Instruction Manual PSx3xxPL Positioning range starts at 51,200 The numerator factor and denominator factor can be used to map any spindle resolutions. Using the referencing value, you can shift the whole range of values. 4.6.3 Shifting the positioning range downwards starting from the delivery state In the following example, starting from the DS, the maximum possible positioning range is shifted slightly downwards using the parameter “upper mapping end”:... -
Page 36: Shifting The Positioning Range Depending On The Actual Position
Instruction Manual PSx3xxPL 4.6.4 Shifting the positioning range depending on the actual position If (in contrast to the examples above) the actual position is not in the delivery state (i.e. value 51,200), this is included in the calculation of the possible value range for the upper mapping end. -
Page 37: Step-By-Step Instructions For Determining The Positioning Range
Instruction Manual PSx3xxPL To ensure that the position value 1,200,000 is at the upper end of the maximum possible positioning range, as specified (i.e. at the upper limit), we add the safety margin of three rotations to this value and thus obtain our value for the upper mapping end: upper mapping end = 1,200,000 + 3 * 5,000 = 1,215,000 The device then recalculates the positioning range limits:... -
Page 38: Using Position Scaling Factors To Set The Spindle Pitch
Instruction Manual PSx3xxPL 4) Setting upper mapping end: The parameter defines the location of the maximum possible positioning range, taking into account the scaling values and the referencing value. 5) Setting upper and lower limits: If necessary, the maximum possible positioning range can be restricted to prevent incorrect target positions that lead to a collision. -
Page 39: Drag Error Correction
Instruction Manual PSx3xxPL Drag error correction With SDO #2046 the drag error correction can be enabled. With this feature enabled, the drive will raise or lower the target speed proportional to the drag error by the configured value. The drive attempts under consideration of the configured maximum current to compensate the drag error which has developped by controlling the target speed to a value which lays slightly above or below the specified value of the target speed (SDO #2012). -
Page 40: Devices With "Jogkeys" Option
Instruction Manual PSx3xxPL 4.11 Devices with “Jogkeys” option 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 efunden werden.). -
Page 41: Manual Turning With The Adjustment Facility
Instruction Manual PSx3xxPL 4.12 Manual turning with the adjustment facility When mounting or dismounting a PSx3xx, it may be necessary to manually turn the output shaft to a certain position. For this purpose, the actuators are equipped with a manual adjustment facility: First, the corresponding cover in the cover must be removed. -
Page 42: Reference Runs
Instruction Manual PSx3xxPL 4.14 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 43: Safe Torque Off
Instruction Manual PSx3xxPL 4.16 Safe Torque Off The PSx3xx-STO positioning system is equipped with an emergency stop function (STO – safe torque off). With the STO input, the moment of torque of the electric motor can be switched off. The following figure illustrates the basic wiring of the PSx3xx-STO: Safe system state;... -
Page 44: Technical Data
Instruction Manual PSx3xxPL Technical Data Ambient conditions ambient temperature 0 °C to +45 °C storage temperature -10 °C to +70 °C shock resistance when installed 50 g 11 msec according to DIN EN 60068-2-27 resistance to vibration when installed 10 Hz to 55 Hz 1.5 mm according to DIN EN 60068-2-6 55 Hz to 1000 Hz 10 g 10 Hz to 2000 Hz 5 g... -
Page 45: Sto Data
(approx.) PSx30x-8 650 g PSx30x-14, PSx32x 1200 g PSx31x-8 700 g PSx31x-14, PSx33x 700 g PSE31xx 1200 g For additional specifications and dimension drawings, please visit our website at https://www.halstrup-walcher.de/en/products/drive-technology/ 7100.006754B_PSx3xxPL-STO.docx 03/2022 Re/Me/RH... -
Page 46: Certificate Of Conformity
Instruction Manual PSx3xxPL Certificate of Conformity... - Page 47 Instruction Manual PSx3xxPL...