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Related Manuals for halstrup-walcher PSW 31 14 Series
Summary of Contents for halstrup-walcher PSW 31 14 Series
- Page 1 Original Instruction Manual PSx3xxPN-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.de Internet: www.halstrup-walcher.de Dokument 7100.006684...
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Page 2: Revision Overview
UKCA; Parameter 91; Pin assignment; Readjustment Mapping end; manual turning Accessories PSx3xxPN-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 PSx3xx-PN 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 PSx3xxPN-STO Table of Contents Revision Overview ..................... 2 Accessories PSx3xxPN-STO series ................. 2 Purpose of instruction manual ................. 3 Conformity ......................... 3 Table of Contents ...................... 4 1. Safety precautions ....................6 Appropriate use ....................6 Shipping, assembly, electrical connections and start-up ........6 Troubleshooting, maintenance, repairs, disposal .......... - Page 5 Instruction Manual PSx3xx-PN Drag error correction ..................45 Response at power up, at “IOPS = BAD” and at connection timeout ....45 4.10 4.11 Devices with "Jog keys" option ................47 4.12 Manual turning with the adjustment facility ............48 4.13 Devices with optional snap brake ...............
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Page 6: Safety Precautions
Instruction Manual PSx3xxPN-STO 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 PSx3xx-PN 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 8: Installation
Instruction Manual PSx3xxPN-STO 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 9: Disassembly
Instruction Manual PSx3xx-PN 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 10: Powering The Device
Instruction Manual PSx3xxPN-STO Powering the device There is one common power supply for the motor and control unit of the positioning system. It is recommended, to use SELV or PELV power supplies. For the combined motor and control power, use a single fuse with max. -
Page 11: One Hybrid Bushing For Supply, Bus And Sto (Hybr)
Instruction Manual PSx3xx-PN 2.5.3 One Hybrid bushing for supply, bus and STO (Hybr) connector pattern assignment type (external top view) 1. TD+ 5. GND motor / control 2. TD- 6. N.C. M12 (Y-cod.); 3. RD+ 7. +24V motor / control 8-pol. -
Page 12: Leds
Instruction Manual PSx3xxPN-STO 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 BF: Profinet bus fault LED SF: Profinet status fault LED V_Motor: The LED is illuminated yellow when power is available to the motor. Switch and LED configurations: PSx30xPNET-STO, PSx31xPNET-STO, PSx31xPNET-14-STO... -
Page 13: Start-Up
Instruction Manual PSx3xx-PN 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, first a cyclic process data connection has to be established. -
Page 14: Restoring The Factory Settings (Without Controller)
Instruction Manual PSx3xxPN-STO 2.8.3 Restoring the factory settings (without controller) It is also possible to set the drive to the delivery state without the presence of a controller. Carry out the following steps to do this: 1) Switch off the device. 2) Set the address switch to 98. -
Page 15: Table Of Implemented Parameter Entries
Instruction Manual PSx3xx-PN 2.9.1 Table of implemented parameter entries 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: STO-enabling active... - Page 16 Instruction Manual PSx3xxPN-STO 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 PSx3xx-PN Name Par. Function Type/ Back Delivery Number Range State Parameter group “position settings” direction of 0: clockwise with larger values 0 or 1 rotation (if looking at the output shaft) 16 bit 1: counter clockwise with larger values Changes only possible when at standstill position These values can be used to set a...
- Page 18 Instruction Manual PSx3xxPN-STO 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...
- Page 19 Instruction Manual PSx3xx-PN Name Par. Function Type/ Back Delivery Number Range State Parameter group “time” time elapsed value in msec 50...500 until speed (see also Par. 57) 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 PSx3xxPN-STO Name Par. Function Type/ Back Delivery Number Range State Parameter group “others” (continued) address If no address switches are included in the 16 bit device or the setting of the address switches is “00”, this value is effective as address, in case it is >...
- Page 21 Instruction Manual PSx3xx-PN Name Par. Function Type/ Back Delivery Number Range State Parameter group “others” (continued) repetition drive will start another safe position run if 16 bit time for safe the last safe position run was not position run successful (e.g. because of undervoltage, positioning error (block) or overtemperature) value in sec;...
- Page 22 Instruction Manual PSx3xxPN-STO Name Par. Function Type/ Back Delivery Number Range State Parameter group “others” (continued) writing “1”: 6…-1 delivery state 96 saves all parameters in the EEPROM or 1 (writing) reading directly after boot: 0...2 0 content of memory correct (reading) ≠...
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Page 23: Table Of Rated Speed And Torque Values For Various Models Of Gears
Instruction Manual PSx3xx-PN 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 Par. Name value range delivery state 5…45 target speed 15...230 10...150 3...70... - Page 24 Instruction Manual PSx3xxPN-STO device model PSW 3218-14 3318-14 Name Par.-Nr. value range delivery state target speed 3...24 2...18 target speed for 3...24 2...18 manual run acceleration 11...70 8...45 deceleration 11...70 8...45 maximum start-up 180...2200 250...2000 torque 2200 2000 maximum torque 180...2200 250...2000 1800...
- Page 25 Instruction Manual PSx3xx-PN device model PSE 3110-14 3125-14 3210-14 3218-14 3310-14 Par.-Nr. Name value range delivery state 1…30 target speed 1...12 5...45 3...30 1…30 target speed for 1...12 5...45 3...30 manual run 9…50 acceleration 4...20 20...117 11...70 9…50 deceleration 4...20 20...117 11...70 maximum start-up...
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Page 26: Structure Of Process Data
Instruction Manual PSx3xxPN-STO 2.9.3 Structure of process data 1) Output module (from the perspective of the IO controller) Assignment (cannot be modified): Byte Description corresponding parameter number control word 10-13 target position 2) Input module (from the perspective of the IO controller) Assignment (cannot be modified): Byte Description... - Page 27 Instruction Manual PSx3xx-PN 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. 46 This bit is reset: - with each new run command Bit 2:...
- Page 28 Instruction Manual PSx3xxPN-STO Bit 7: temperature exceeded This bit is set: - if the internal device temperature device exceeds the limit value (Par. 91) This bit is reset: - if the internal device temperature falls below the limit value by 5°C Bit 8: movement opposite loop direction This bit is set:...
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Page 29: Detailed Description Of Control Bits
Instruction Manual PSx3xx-PN Bit 13: voltage control is valid The behaviour of this bit is depending of the acknowledgement bit (bit 14) in the control word. a) The acknowledgment bit is not set (low) Failure status is latched, if the positioning system is moving or a run command is transmitted, otherwise the status of the voltage control signal is shown ... - Page 30 Instruction Manual PSx3xxPN-STO Bit 3: Enable manual movement in jog mode: In jog mode (movement by keys if bit 5 is set; or with bit 8 or 9 set in the control word if bits 4 and 5 are not set), manual movement is only activated if bit is set, when the key is pressed for a long time (or a jog movement bit is activated for a long time).
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Page 31: Pkw Parameter Interface
Instruction Manual PSx3xx-PN 2.9.6 PKW parameter interface Via the PKW 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 PKW parameter interface the IO controller sets and transmits a new command. - Page 32 Instruction Manual PSx3xxPN-STO Request identifier (IO controller 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 (array) 4 or 5 Modify parameter value (array, word) Modify parameter value (array, double...
- Page 33 Instruction Manual PSx3xx-PN Parameter value PWE: This field contains the numerical value which belongs to the related parameter. When a request cannot be completed successfully (e.g. response identifier AK = 7), the drive reports an error code according to the following table: Error Meaning code...
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Page 34: Sequence Of Positioning
Instruction Manual PSx3xxPN-STO 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 (Par. 45) and then finally approached. This can, for example, eliminate the backlash of a driven spindle. -
Page 35: Sequence Of A Positioning Process Without A Loop
Instruction Manual PSx3xx-PN 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 36: Specials
Instruction Manual PSx3xxPN-STO Specials Speed, acceleration and deceleration Manual runs are performed at the maximum speed specified in Par. 56; positioning runs are performed at the maximum speed specified in Par. 53. For all runs the maximum acceleration in Par. 58 and the maximum deceleration in Par. 59 apply. At the end of each run the maximum deceleration decreases during the approach to the destination successively in order to realize a harmonic transient behaviour. -
Page 37: Readjustment In Case Of Manual Displacement Externally
Instruction Manual PSx3xx-PN 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 (Par. - Page 38 Instruction Manual PSx3xxPN-STO Examples: a) Move the axle in middle position, then move the drive at no-load (with opened collar) also to middle position (position 51200), then close the collar. The drive is now capable of moving 125 rotations (±50000 increments by default) in each direction.
- Page 39 Instruction Manual PSx3xx-PN 5) When changing the position scaling numerator or denominator (Par. 38 or 39), the target value, the actual value, the referencing value, the upper mapping end, the upper and lower limit, the drag error, the positioning window and the length of loop are re-calculated.
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Page 40: Use Of The "Upper Mapping-End" Parameter
Instruction Manual PSx3xxPN-STO 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 41: Shifting The Positioning Range Downwards Starting From The Delivery State
Instruction Manual PSx3xx-PN 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 42: Shifting The Positioning Range Depending On The Actual Position
Instruction Manual PSx3xxPN-STO 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 43: Step-By-Step Instructions For Determining The Positioning Range
Instruction Manual PSx3xx-PN 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 44: Using Position Scaling Factors To Set The Spindle Pitch
Instruction Manual PSx3xxPN-STO 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 45: Drag Error Correction
Instruction Manual PSx3xx-PN Drag error correction With Par. 48 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 (Par. - Page 46 Instruction Manual PSx3xxPN-STO Behaviour if IOPS = BAD (e.g. if the PLC is in the state “CPU Stop”): The behaviour is defined by bits 5-4 of Par. 93. There are basically three types of behaviour: 1) If currently a positioning is in progress, the drive terminates this positioning as planned and then does not start a new positioning as long as the state “IOPS = BAD”...
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Page 47: Devices With "Jog Keys" Option
Instruction Manual PSx3xx-PN 4.11 Devices with "Jog keys" 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 2.9.5). -
Page 48: Manual Turning With The Adjustment Facility
Instruction Manual PSx3xxPN-STO 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 49: Reference Runs
Instruction Manual PSx3xx-PN 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 50: Safe Torque Off
Instruction Manual PSx3xxPN-STO If a PSx3xx is operated for more than 1-2 seconds in regenerative mode without consumer of the generated energy, this damages the internal protection diode and the PSx3xx is defective. 4.16 Safe Torque Off The PSx3xx-STO positioning system is equipped with an emergency stop function (STO –... -
Page 51: Technical Data
Instruction Manual PSx3xx-PN 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 ms according to DIN EN 60068-2-27 resistance to vibration when installed 10 Hz bis 55 Hz 1,5 mm according to DIN EN 60068-2-6 55 Hz bis 1000 Hz 10 g 10 Hz bis 2000 Hz 5 g... -
Page 52: Sto 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 For additional specifications and dimension drawings, please visit our website at https://www.halstrup-walcher.de/en/products/drive-technology/ 7100.006684C_PSx3xxPNET-STO.docx 03/2022 La/Me... -
Page 53: Certificate Of Conformity
Instruction Manual PSx3xx-PN Certificate of Conformity... - Page 54 Instruction Manual PSx3xxPN-STO...
- Page 55 Instruction Manual PSx3xx-PN Notes...