Related Manuals for halstrup-walcher PS 3 PL Series
Summary of Contents for halstrup-walcher PS 3 PL Series
- Page 1 Instruction Manual PSx3xxPL halstrup-walcher GmbH Stegener Straße 10 D-79199 Kirchzarten Phone: +49 (0) 76 61/39 63–0 E-Mail: info@halstrup-walcher.com Internet: www.halstrup-walcher.com Document 7100.005424...
- Page 2 Instruction Manual PSx3xxPL Revision overview Version: Date: Author: Content: 20.01.22 08.08.23 revise manual, new: chapt 2.4 – powering device, reference mapping extended, 2.9.2 Table of parameters, new chapter 4.12, new chapter 4.6 upper mapping end, QR code measurement technology, current consumption "Electrical data" corrected. New chapter Limitation of liability and cross-sections Power supply cables.
- Page 3 This is documented by the CE and the UKCA mark being affixed. 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...
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Page 4: Table Of Contents
Instruction Manual PSx3xxPL Table of Contents Safety precautions......................6 Qualified personnel .................... 6 Explanation of symbols ..................6 Appropriate use ....................7 Inappropriate use ....................8 Limitation of liability .................... 9 Faults, maintenance, repair, disposal ..............9 Product labeling ....................10 Device Description ..................... - Page 5 Instruction Manual PSx3xxPL Drag error monitoring ..................49 Drag error correction ..................49 5.10 Abort run when the master fails................ 50 5.11 Devices with “Jogkeys” option ................50 5.12 Manual turning with the adjustment facility ............51 5.13 Devices with optional snap brake ..............52 5.14 Devices with optional holding brake ..............
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Page 6: Safety Precautions
Instruction Manual PSx3xxPL 1 Safety precautions This section provides an overview of all the important safety aspects for optimum protection of personnel and for safe and trouble-free operation. 1.1 Qualified personnel These operating instructions are intended for qualified electricians and fitters who are authorized to install, electrically connect, commission and label devices and systems in accordance with safety standards, as well as for the operator and manufacturer of the system on which the drives are installed. -
Page 7: Appropriate Use
Instruction Manual PSx3xxPL 1.3 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 8: Inappropriate Use
Instruction Manual PSx3xxPL 1.4 Inappropriate use The use of the positioning devices outside of the operating conditions and technical data and specifications described in the documentation is considered “improper”. The drives are designed for intended operation under normal ambient conditions (according to EN / IEC / UL 61010-1), with the exception of an extended temperature range. -
Page 9: Limitation Of Liability
Instruction Manual PSx3xxPL 1.5 Limitation of liability The device may only be operated in accordance with these operating instructions. All information and instructions in these operating instructions have been compiled taking into account the applicable standards and regulations, the state of the art and our many years of experience and knowledge. -
Page 10: Product Labeling
Instruction Manual PSx3xxPL Product labeling Warning symbol Meaning Reference to further documentation Read the operating instructions and safety instructions before transportation, installation or commissioning Warning of hot surface The appliance can become very hot during operation. Temperatures of over 70°C can occur. In the event of a fault, internal components may be overloaded. -
Page 11: Device Description
Instruction Manual PSx3xxPL 2 Device Description 2.1 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 12: Installation
Instruction Manual PSx3xxPL 3 Installation 3.1 Electrical connection NOTICE The following notes on the power supply should be observed. Minimum cross-sections are required for connection to the power supply. For power cables mounted on the device, use only the cross-sections listed below. In order to minimize voltage drop on longer cables, we always recommend using the largest available cross-section. -
Page 13: Assembly Of The Positioning System
Instruction Manual PSx3xxPL 3.2 Assembly of the positioning system CAUTION The maximum permissible axial and radial forces (see chapter 6.3 Physical data) on the motor shaft must not be exceeded during transportation, installation or operation. CAUTION Take the weight of the device into account when selecting the fastening screws! Tightening torques of the fixing screws according to the screw manufacturer's specifications! WARNING... - Page 14 Instruction Manual PSx3xxPL CAUTION The PSx3xx must have a little gap on all sides when mounted, as it can move axially and/or radially during positioning if the hollow shaft and solid shaft are not 100% aligned. This "staggering" is not a defect of the PSx3xx and also has no influence on the function, as long as it can move freely.
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Page 15: Solid Shaft
Instruction Manual PSx3xxPL 3.2.2 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. CAUTION Under no circumstances may the housing cover be used for the purpose of the transmission of force. -
Page 16: Powering The Device
Instruction Manual PSx3xxPL 3.4 Powering the device CAUTION For motor power use a single fuse with max. 3,5 A for each PSx3xx. For motor power use a single fuse with max. 10 A for each PSE34xx. For control power you can use a fuse with max. 2,0 A, so it is possible to power up to 10 units parallel with one fuse. -
Page 17: Supply Voltage Connector (24Vdc)
Instruction Manual PSx3xxPL 3.5.1 Supply voltage connector (24VDC) connector pattern assignment type (external top view) 1. +24V motor PSE/PSS: 2. GND motor M12 (A-cod.); 5-pol. 3. +24V control unit PSW: 4. GND control unit M12 (A-cod.); 5. housing/pressure balance 4-pol. with airtube 1. -
Page 18: Connector For Jog Keys (Jog)
Instruction Manual PSx3xxPL 3.5.4 Connector for jog keys (Jog) connector pattern assignment type (external top view) 1. +24V output (=+24V control in supply voltage connector) 4-pol 2. forward key 3. reverse key 4. ground (= GND control unit) 3.5.5 Connector-option -2Y- Two Y-coded bushings for bus and control supply One A-coded connector for motor supply connector pattern... -
Page 19: Leds
Instruction Manual PSx3xxPL 3.7 LEDs The following LEDs are located under the transparent sealing plug: P1/P2: green Link/Act LEDs for ports 1 and 2 BS/BE: Powerlink STATUS and ERROR LEDs (green/red; see Powerlink spec.) V_Motor: The LED is illuminated yellow when power is available to the motor. Switch configurations: PSx30x, PSx31x-8, PSx31x-14, PSx33x... -
Page 20: Start-Up
For easier support of the devices by configuration tools, the following device description files are available in the download area at https://www.halstrup-walcher.de: - for devices without jog keys: 000002D8_PSx3xxPL.xdd - for devices with jog keys: 000002D8_PSx3xxPL-V2.xdd 3.8.1 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 21: Manual Run
Instruction Manual PSx3xxPL NOTICE Where applicable, positioning runs involve a “loop run” which causes the target position to be reached from a predefined direction. The direction and the length of the loop run can be set to the desired value with SDO #201F (“length of loop”) before the run. -
Page 22: Powerlink Interface
Instruction Manual PSx3xxPL 3.9 Powerlink interface The Powerlink interface is realized according the EPSG standard 301, version 1.2.0: One send and receive SDO per device • • One asynchron send and receive PDO, active by default Meaning of the LEDs: •... -
Page 23: Table Of Entries Implemented From Object Dictionary
Instruction Manual PSx3xxPL 3.9.1 Table of entries implemented from object dictionary Name Index Function Range of Back Delivery number value State Device Type 1000 returns a “0” when read 32 bit Error 1001 Error register according CiA DS 301 8 bit Register Error History 1003... - Page 24 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State drag error 2005 maximum drag error before the ‘drag 0...1000 error’ bit is set. 16 bit value in 1/100 mm (for a 4mm spindle and default settings of numerator and denominator) positioning 2006...
- Page 25 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State time elapsed 201B value in msec 50...500 until speed 16 bit falls below rpm limit for aborting run acceleration 201C value in 1/min per sec. see table 16 bit table deceleration...
- Page 26 Instruction Manual PSx3xxPL 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: reverse jog key active Bit 3: forward jog key active Bit 4: motor power present Bit 5: positioning run aborted Bit 6: drive is running...
- Page 27 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State Umot filter 203D average time for measuring motor supply 100… voltage; value in msec 1000 16 bit temperature 203E upper temperature limit in °C 10...70 limit 16 bit device 203F internal device temperature in °C...
- Page 28 Instruction Manual PSx3xxPL Name Index Function Range of Back Delivery number value State repetition 204B drive will start another save position run if 16 bit time for save the last save position run was not position run successful (e.g. because of undervoltage, positioning error (block) or overtemperature) value in sec;...
- Page 29 Instruction Manual PSx3xxPL delivery state 204F writing “-6”: -6…-1 resets the drive (equal to switching off or 1 and on again the control power supply) (writing) 0...2 writing “-5”: (reading) sets the values of all parameters to the ±15 bit delivery state, saves all parameters in the EEPROM, afterwards positioning run to the middle of the measurement range *)
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Page 30: Table Of Rated Speed And Torque Values For Various Models Of Gears
Instruction Manual PSx3xxPL 3.9.2 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 Name Index Range of value number Delivery State target rpm posi 2012 15...230 10...150 3...70 20...200... - Page 31 Instruction Manual PSx3xxPL device model PSE 3110 3125 3210-x 3218 3310-x Name Index Range of value number Delivery State target rpm posi 2012 1…30 1…12 5...45 3...30 target rpm hand 2013 1…30 1…12 5...45 3...30 acceleration 201C 9…50 4…20 20...117 11...70 deceleration 201D...
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Page 32: Pdo Definition
Instruction Manual PSx3xxPL 3.9.3 PDO definition 1) Receive PDO (from the perspective of the PSx3xx) Assignment (cannot be modified): Byte Description corresponding SDO index number 0-15 control word 2024h 16-47 target value 2001h 2) Transmit PDO (from the perspective of the PSx3xx) Assignment (cannot be modified): Byte Description... - Page 33 Instruction Manual PSx3xxPL forward jog key active Bit 3: This bit is set: - if Pin 2 on the key connector is connected with Pin 1 (+24V) This bit is reset: - if Pin 2 on the key connector is deconnected from Pin 1 (+24V) motor power present Bit 4: This bit is set:...
- Page 34 Instruction Manual PSx3xxPL Bit 10: positioning error (block) This bit is set: - if a positioning run or a manual run is aborted because the device is overloaded (block, extreme difficulty while running) This bit is reset: - with each new run command - with a 0 ...
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Page 35: Detailed Description Of Control Bits
Instruction Manual PSx3xxPL 3.9.5 Detailed description of control bits manual run to larger values Bit 0: manual run to smaller values Bit 1: transfer target value Bit 2: 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 36 Instruction Manual PSx3xxPL Bit 14: Error Acknowledge With a 0 → 1 edge of this bit, error bits 1, 5, 10, 11, 12 and 13 in the status word are deleted (available from firmware V3.02) reserved, must be programmed to 0 Bit15:...
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Page 37: Sequence Of Positioning
Instruction Manual PSx3xxPL 4 Sequence of positioning 4.1 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. -
Page 38: 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 steps, i.e. each setpoint position is approached in the forward direction. -
Page 39: Specials
Instruction Manual PSx3xxPL 5 Specials 5.1 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 40: Response Of Drive In Case Of Manual Displacement (Readjustment)
Instruction Manual PSx3xxPL NOTICE Runs which involve specifically a block run (e.g. reference runs on block), may only be started with reduced torque (max. torque max. 10% of the nominal torque, resp. the lowest possible value). 5.4 Response of drive in case of manual displacement (readjustment) 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... -
Page 41: Calculating The Absolute Physical Position
Instruction Manual PSx3xxPL 5.5 Calculating the absolute physical position The PSx3xx actuator includes an absolute measuring system with measurement range of 256 rotations. In order to avoid an overflow when the drive is switched off and moved by an external force, the user can only command positionings in the range of 250 rotations. - Page 42 Instruction Manual PSx3xxPL Remarks: 1) When calculating the upper mapping end (SDO #2028), a security reserve of 3 rotations has to be kept in mind (1200 increments by default, see the examples above), because the highest possible position value is 3 rotations below the upper mapping end.
- Page 43 Instruction Manual PSx3xxPL 2) Indirectly, by writing an actual value to SDO #2003. This makes it possible to assign any “true” actual value to the current, physical actual value. The resulting difference is then the referencing value. This value will immediately be included in calculations for each transferred value and can also be read via SDO #2004.
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Page 44: Use Of The "Upper Mapping End" Parameter
Instruction Manual PSx3xxPL 5.6 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: 5.6.1 Delivery state In the delivery state (“DS”), the actual position is exactly in the middle of the positioning range. -
Page 45: Shifting The Positioning Range Downwards Starting From The Delivery State
Instruction Manual PSx3xxPL Upper mapping end 152,400 Lower limit 51,200 Upper limit 151,200 Positioning range starts at 51,200 NOTICE 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. 5.6.3 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 46: Shifting The Positioning Range Depending On The Actual Position
Instruction Manual PSx3xxPL 5.6.4 Shifting the positioning range depending on the actual position Are (in contrast to the examples above) one or more of the parameters “numerator”, “denominator” and “referencing value” not in the delivery state, these are included in the calculation of the possible value range for the upper mapping end. -
Page 47: Step-By-Step Instructions For Determining The Positioning Range
Instruction Manual PSx3xxPL Example: Spindle with 5 mm pitch, specified unit for target and actual values: 1µm 1 rotation = 5mm = 5,000µm Number of steps per rotation = 5,000 Using the formula Number of steps per rotation = 400 * denominator / numerator the following result is obtained: numerator = 400;... - Page 48 Instruction Manual PSx3xxPL 2) Setting numerator and denominator: The numerator and denominator determine the number of steps into which one rotation of the output shaft is divided. 3) Setting referencing value: The referencing value is used to assign a specific value of the actual position to a specific physical position of the axle.
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Page 49: Using Position Scaling Factors To Set The Spindle Pitch
Instruction Manual PSx3xxPL 5.7 Using position scaling factors to set the spindle pitch SDO #2010 (numerator factor) and #2011 (denominator factor) can be used to represent any desired spindle pitch: denom factor number steps revolution numerator factor Both factors are set to a value of 400 by default, resulting in a resolution of 0.01 mm at a spindle pitch of 4 mm. -
Page 50: Abort Run When The Master Fails
Instruction Manual PSx3xxPL 5.10 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. In order to generate an automatic run abort in this case, there’s a mechanism implemented in the drive that monitors the communication to the Powerlink Managing Node (e.g. -
Page 51: Manual Turning With The Adjustment Facility
Instruction Manual PSx3xxPL - Connection of an active signal Here the respective jog key input is connected to the (active) signal connection. The reference ground of the external active signal should be connected to the GND connection in the jog key plug. The +24V output in the jog key plug remains unused. -
Page 52: Devices With Optional Snap Brake
Instruction Manual PSx3xxPL manual adjustment under cover PSx31x-14, PSx33x-14 PSx30x-14, PSx32x-14 5.13 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 53: Reference Runs
Instruction Manual PSx3xxPL To adjust the drive manually, it is first necessary to remove the corresponding rubber- plug in the top cover (see drawings at the end of these instructions). The drive can then be rotated using a hex wrench NW4. This is quite difficult, as the operator has to overcome both any torque present at the output and the force of the friction brake. -
Page 54: Reverse Drive
Instruction Manual PSx3xxPL 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). 6) Only now adjust the desired settings of the above mentioned SDOs for normal operation. -
Page 55: Technical Data
Instruction Manual PSx3xxPL 6 Technical Data For additional specifications and dimension drawings, please visit our website at https://www.halstrup-walcher.de/en/products/drive-technology/ 6.1 Ambient conditions ambient temperature 0 °C to +45 °C storage temperature -10 °C to +70 °C shock resistance according to 50 g 11 ms... -
Page 56: Physical Data
Instruction Manual PSx3xxPL 6.3 Physical data positioning range 250 usable rotations, no mechanical limits measuring system has a span of 256 turns, minus 3 turns security stock at upper and lower range limit torsional rigidity max. 0.2° (angle of rotation when switching from operation without backlash to maximum torque) gear backlash... -
Page 57: Certificate Of Conformity
Instruction Manual PSx3xxPL 7 Certificate of Conformity... - Page 58 Instruction Manual PSx3xxPL...
- Page 59 Instruction Manual PSx3xxPL Notes:...
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