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halstrup-walcher PS 3 Series Instruction Manual

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Document 7100.004224
Instruction Manual
PSx3xx-CA
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 PSx3xx-CA 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 7100.004224...
  • Page 2 Revision overview; Mapping-End; IP65; new decl. of conformity Accessoires PSx3xx-CA 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 Instruction Manual PSx3xx-CA 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: Table Of Contents

    Instruction Manual PSx3xx-CA Table of Contents Safety precautions......................5 Appropriate use ......................5 Shipping, assembly, electrical connections and start-up ..........5 Troubleshooting, maintenance, repairs, disposal ............5 Symbols ........................6 Device description ......................6 Features ........................6 Installation ........................7 Disassembly ........................

  • Page 5: Safety Precautions

    Instruction Manual PSx3xx-CA 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 6: Symbols

    Instruction Manual PSx3xx-CA 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 7: Installation

    Instruction Manual PSx3xx-CA 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 8 Instruction Manual PSx3xx-CA 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 9: Disassembly

    Instruction Manual PSx3xx-CA 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 10: Round Plug And Socket For Bus (Port 1 Und Port 2)

    Instruction Manual PSx3xx-CA 2.5.2 Round plug and socket for bus (Port 1 und Port 2) connector pattern assignment type (external top view) plug socket 1. housing 2. not assigned 3. CAN_GND M12 (B-cod.); 4. CAN_H 5-pol. 5. CAN_L Due to the use of 5-pin sockets, only five-wire cables should be used.

  • Page 11: Setting The Device Address And Baud Rate

    Instruction Manual PSx3xx-CA Setting the device address and baud rate Removing the protective cap provides access to two rotary switches for setting the device address at the bus and a 2-pin sliding switch for setting the baud rate. 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 12: Start-Up

    Instruction Manual PSx3xx-CA Start-up Positioning sequence (with loop) The PSx3xx differs between the following steps of a positioning sequence (Presumption: the target position is always approached through forward motion): New position value is larger than the current value: position approached directly. New position value is smaller than the current value: the device reverses 5/8 of one rotation and approaches the exact position after resuming forward motion.

  • Page 13: Table Of Entries Implemented From Object Dictionary

    Instruction Manual PSx3xx-CA 2.8.1 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 14 Instruction Manual PSx3xx-CA Name Index Function Range of Back Delivery number value State 2000: 10 general purpose registers 16 bit 0...9 31 bit target value 2001 target position to be achieved value in 1/100 mm (for default settings of numerator #2010 and denominator #2011) 31 bit actual value...
  • Page 15 Instruction Manual PSx3xx-CA Name Index Function Range of Back Delivery number value State rpm limit for 201A value in % of the target rpm 30...90 aborting run 16 bit time elapsed 201B value in msec 50...500 until speed 16 bit falls below rpm limit for aborting run...
  • Page 16 Instruction Manual PSx3xx-CA 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 sending the target values with the help of PDOs, positioning will only take place if this bit is set) Bit 3: release for manual run in jog key...
  • Page 17 Instruction Manual PSx3xx-CA Name Index Function Range of Back Delivery number value State 31 bit upper 2028 definition of the positioning range relative 102400 R/W mapping end to the absolute measuring system (not in permissible values: PSE34xxU (1 + ref.value) … (204800 * PSE3xxS) denominator / numerator - 1 + ref.value) maximum...
  • Page 18 Instruction Manual PSx3xx-CA Name Index Function Range of Back Delivery number value State duration of 2043 time period at end of run, in which the 0..1000 ‘maximum holding torque at end of run’ maximum 16 bit holding applies (value in msec) torque at end of run waiting time...
  • Page 19 Instruction Manual PSx3xx-CA Name Index Function Range of Back Delivery number value State writing ‘-1’: delivery state 204F -1, -2 or generates the delivery state without modifying the CAN address and the baud 16 bit rate (starts initial reference loop, then positioning to the middle of the measurement range) writing ‘-2’:...

  • Page 20: Table Of Rated Speed And Torque Values For Various Models Of Gears

    Instruction Manual PSx3xx-CA 2.8.2 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 PSsE and PSS 311-x 312-x 315-8 332-14 335-14 Index value range Name number delivery state 5…45 target rpm posi 2012 15...230...
  • Page 21 Instruction Manual PSx3xx-CA device model PSE 3210-14 3218-14 3325-14 303-14/So 3310-14 Index value range Name number delivery state 20…120 target rpm posi 2012 5...40 3...22 2...12 20…120 target rpm hand 2013 5...40 3...22 2...12 20…120 maximum rpm, 2020 5...40 3...22 2...12 counterclockwise 20…120...

  • Page 22: Pdo Definition

    Instruction Manual PSx3xx-CA 2.8.3 PDO definition 1) Receive PDO (from the perspective of the PSx3xx) Identifier: 200h + CAN address (possible values: 201h...27Fh) Assignment (cannot be modified): Byte Description corresponding SDO index number 0-15 control word 2024h 16-31 unused 31-63 target value 2001h 2) Transmit PDO (from the perspective of the PSx3xx)
  • Page 23 Instruction Manual PSx3xx-CA Bit 4: motor power present This bit is set: - if the supply voltage to the motor is above the Umot limit (SDO #203C) and below 30V This bit is reset: - if the supply voltage to the motor is below the Umot limit or above 30V Bit 5: positioning run aborted This bit is set:...

  • Page 24: Detailed Description Of Control Bits

    Instruction Manual PSx3xx-CA Bit 11: manual displacement This bit is set: - if, while on standstill, the drive is turned externally by more than the value in the positioning window This bit is reset: - by transmitting a new positioning command - after an initial reference loop has been executed correctly Bit 12: incorrect target value This bit is set:...
  • Page 25 Instruction Manual PSx3xx-CA Bit 4: Release: Run commands will only be executed if this bit is set (exception is the jog key mode with the external keys or with bits 8/9 of the control word). This bit must be set for positioning runs, manual runs and must not be set for jog runs.

  • Page 26: Sequence Of Positioning

    Instruction Manual PSx3xx-CA Sequence of positioning 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 27: Positioning Run Without Loop

    Instruction Manual PSx3xx-CA 3. New setpoint position is only slightly larger than the current actual position and previously there was no positioning movement with loop (e.g. a manual movement): In all cases, the drive approaches the target with a forward movement whose length corresponds at least to the loop length.

  • Page 28: Special Features

    Instruction Manual PSx3xx-CA Special features Speed, acceleration and deceleration The initial reference loop and the manual run are performed at the maximum speed specified in SDO #2013; positioning runs are performed at the maximum speed specified in SDO #2012. When the run is counterclockwise, additionally the maximum speed in SDO #2020 applies, when the run is clockwise, the one in SDO #2021 applies.

  • Page 29: Behaviour Of The Actuator During Manual Rotation (Readjustment Function)

    Instruction Manual PSx3xx-CA Behaviour of the actuator during manual rotation (readjustment function) If the PSx3xx is turned against the loop direction at standstill after a correctly completed positioning movement (or manual movement to the end of the movement range) and the enable bit (bit 4 in the control word) as well as the follow-up control bit (bit 10) are activated, the PSx3xx attempts to approach the previously transmitted setpoint again (readjustment).

  • Page 30: Calculating The Absolute Physical Position

    Instruction Manual PSx3xx-CA Calculating the absolute physical position The PSx3xx actuator includes an absolute measuring system with measurement range of 250 rotations. This allows the user to determine the direction of rotation for any desired portion of these 250 rotations. The mapping of the desired positioning range to the physical positioning range is done with the help of the parameter ‘upper mapping end’...
  • Page 31 Instruction Manual PSx3xx-CA 2) The above given increment and position values relate to the following settings, which correspond to the delivery state: a) referencing value (SDO #2004) = 0 b) actual value assessment, numerator (SDO #2010) = 400 c) actual value assessment, denominator (SDO #2011) = 400 These 3 SDOs have an influence on the above given 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...

  • Page 32: Use Of The "Upper Mapping End" Parameter

    Instruction Manual PSx3xx-CA 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 33: Shifting The Positioning Range Downwards Starting From The Delivery State

    Instruction Manual PSx3xx-CA Upper mapping end 152,400 Lower limit 51,200 Upper limit 151,200 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.

  • Page 34: Shifting The Positioning Range Depending On The Actual Position

    Instruction Manual PSx3xx-CA 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 35: Step-By-Step Instructions For Determining The Positioning Range

    Instruction Manual PSx3xx-CA 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 36: Using Actual Value Assessment Factors To Set The Spindle Pitch

    Instruction Manual PSx3xx-CA 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 37: Abort Run When The Master Fails

    Instruction Manual PSx3xx-CA Abort run when the master fails If the connection to the master is interrupted during a positioning run, the master cannot abort an actual run. There are two ways of generating an automatic run abort in a case like this: node guarding und heartbeat consumer. In the first case (node guarding), guard time and life time factors must be programmed into the drive.
  • Page 38 Instruction Manual PSx3xx-CA than the duration of the single step. If SDO #204C has been set to 1 and the CANopen state is ‘preoperational’, bit 3 of the control word is without meaning. The continuous manual run is always enabled under these conditions. The idle period before the drive switches into manual run is specified in SDO #2023.

  • Page 39: Devices With Optional Snap Brake

    Instruction Manual PSx3xx-CA 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 40: Devices With Optional Holding Brake

    Instruction Manual PSx3xx-CA 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. A run command is not approached immediately but only after a short idle period to tighten the brake.

  • Page 41: Reference Runs

    Instruction Manual PSx3xx-CA 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 42: Technical Data

    Instruction Manual PSx3xx-CA 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 43: Physical Data

    (approx.) PSx30x-8 650 g PSx30x-14, PSx32x 1200 g PSx31x-8 700 g PSx31x-14, PSx33x 700 g PSE31xx 1200 g PSE32xx 1350 g PSE33xx 1350 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 44: Certificate Of Conformity

    Instruction Manual PSx3xx-CA Certificate of Conformity 7100.004224S_PSx3xxC.docx 10/2021 Ka/Me...
  • Page 45 Instruction Manual PSx3xx-CA Notes:...
  • Page 46 Instruction Manual PSx3xx-CA Notes:...
  • Page 47 Instruction Manual PSx3xx-CA Notes:...

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