Related Manuals for halstrup-walcher PS 3 SE Series
Summary of Contents for halstrup-walcher PS 3 SE Series
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Page 1: Revision Overview
Instruction Manual PSx3xxSE 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 7100.005054... - Page 2 Instruction Manual PSx3xxSE Revision overview Version Date Author Content 20.01.22 08.08.23 revise manual, new chapter 2.3 powering device, chapter 2.2 detailed description added. 10.08.23 reference mapping extended p.22, new chapter 3.5 upper mapping end, QR code measurement technology, current consumption "Electrical data" corrected. New chapter Limitation of liability and cross-sections Power supply cables.
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Page 3: Purpose Of Instruction Manual
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... -
Page 4: Table Of Contents
Instruction Manual PSx3xxSE Table von Contents Revision overview ......................... 1 Purpose of instruction manual ....................3 Conformity ..........................3 Safety precautions ......................6 1.1. Qualified personnel ....................6 1.2. Explanation of symbols ................... 6 1.3. Appropriate use ....................... 7 1.4. Inappropriate use .................... - Page 5 Instruction Manual PSx3xxSE 4.6.1. Monitoring ......................35 4.6.2. Correction ......................35 4.7. Absolute measuring system ...................36 4.7.1. Positioning range (S-0-0278) ................36 4.7.2. Scale for the positional data (S-0-0079 and P-0-0079)........37 4.7.3. Direction of rotation (S-0-0055) ................38 4.7.4. Referencing (S-0-0175) and/or (S-0-0052) ............38 4.7.5.
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Page 6: Safety Precautions
Instruction Manual PSx3xxSE 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 PSx3xxSE 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 PSx3xxSE 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 PSx3xxSE 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 Labelling
Instruction Manual PSx3xxSE 1.7. Product labelling 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 PSx3xxSE 2. Device description 2.1. Functions The PSx3xxSE 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 sercos 3 interface. The integrated absolute measuring system eliminates the need for a time-consuming reference run. -
Page 12: Installation
Instruction Manual PSx3xxSE 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 PSx3xxSE 3.2. Assembly of the positioning system CAUTION The maximum permissible axial and radial forces (see chapter 6.3 Mechanical 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 PSx3xxSE 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 PSx3xxSE 3.2.2. Solid shaft The PSx3xxSE 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 PSx3xxSE 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: Sockets For The Bus (Port 1 And Port 2)
Instruction Manual PSx3xxSE 3.5.2. Sockets for the bus (Port 1 and Port 2) connector pattern assignment type (external top view) 1. TD+ 2. RD+ M12 (D-cod.); 3. TD- 4-pol. 4. RD- NOTICE Due to the use of 5-pin sockets, only five-wire cables should be used. 3.6. -
Page 18: Sercosiii Cycle Data
Instruction Manual PSx3xxSE Address switch: The rotary switches indicate the tens and ones places of the address selected. If the switches are resting in the position 00 or are not available, the address is set using S- 0-1040. The delivery setting is 00, the PSE reports to the bus with the address 1. If you set the address using the switches (i.e. -
Page 19: Psx3Xxse To Master (At)
Instruction Manual PSx3xxSE 3.9.2. PSx3xxSE to Master (AT) Byte Meaning Corresponding IDN 0-15 Connection control S-0-1050.0.08 16-31 I/O status S-0-1500.00.02 32-47 Producer RTB word container S-0-0144 48-63 Torque feedback value S-0-0084 64-95 8-11 Velocity feedback value 1 S-0-0040 96-127 12-15 Position feedback value 1 S-0-0051 Connection Control... -
Page 20: Parameters
Instruction Manual PSx3xxSE 3.10. Parameters 3.10.1. Read only parameters Name, Byte count/ data Function Unit designation type Actual rpm S-0-0040 Current rpm 1/min signed decimal Actual position S-0-0051 Current position signed decimal Actual torque S-0-0084 Current torque value signed decimal In position S-0-0336 Drive is in the positioning window... -
Page 21: Writable Parameters
Instruction Manual PSx3xxSE 3.10.2. Writable parameters Byte / Name, designation Function Type Maximum permitted target position Unit: * Min.: lower limit S-0- Upper limit 4 / sd 0049 Max.: positioning range – 3 rotations Default setting: 101200 Changes only possible when at a standstill Minimum permissible target position Unit: * S-0-... - Page 22 Instruction Manual PSx3xxSE Byte / Name, designation Function Type Max. drag error before a C2D warning is generated Monitoring deactivated with 0. Unit: * S-0- Drag error 4 / ud 0159 Min.: 0 Max.: 1000* Default setting: 0 Correction factor for the target, actual and limit switch values Unit: * S-0-...
- Page 23 Instruction Manual PSx3xxSE Byte / Name, designation Function Type sercosIII address S-0- Min.: 1 2 / ud Address 1040 Max.: 511 Default setting: 1 Used in combination with S-0-0079 to set "unlevel" resolutions Min.: 1 Extended scale for P-0- 4 / ud positional data 0079 Max.: 10000...
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Page 24: Table Of Type-Dependent Values
Instruction Manual PSx3xxSE 3.10.3. Table of type-dependent values Device type 301-x 302-x 305-x 322-14 325-14 PSE and PSS 311-x 312-x 315-8 332-14 335-14 Name, designation Range of values Delivery state Max. torque 2..125 10..250 50..600 10..250 20..500 S-0-0092 Target rpm 15..230 10..150 3..70... -
Page 25: Commands
Instruction Manual PSx3xxSE Device type PSW 301-x 302-x 305-x 322-14 325-14 328-14 311-x 312-x 315-8 332-14 335-14 Name, designation Range of values Delivery state Max. torque 2..125 10..250 50..600 80...960 10..250 20..500 S-0-0092 Target rpm 15..180 10..125 3..60 5…35 20..150 10..80 S-0-0259 Acceleration... -
Page 26: Error Messages
Instruction Manual PSx3xxSE 3.11. Error messages Errors (C1D) and warnings (C2D) are reported using bits 13 and 12 in the I/O status. The diagnosis code is stored in S-0-0390 and the diagnosis text in S-0-0095. 3.11.1. Error (C1D) The sercos LED is illuminated red when an error occurs. When an error occurs during the run, the run is aborted. -
Page 27: Special Features
Instruction Manual PSx3xxSE 4. Special features 4.1. Positioning To perform a positioning run, the control word (positioning control) must be written as follows in the MDT: bit 2-1 = 00 and bit 0 must be toggled. When the run command has been successfully accepted, the bit 0 in the status word (Producer RTB word container) is toggled in the AT. -
Page 28: Positioning Sequence With Loop
Instruction Manual PSx3xxSE 4.1.1. Positioning sequence 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 (S-0-0058) and then finally approached. This can, for example, eliminate the backlash of a driven spindle. -
Page 29: Positioning Sequence Without Loop
Instruction Manual PSx3xxSE NOTICE A positioning to the upper end limit (S-0-0049) with a loop length > 0 is not possible, since the drive would have to cross the end limit for this. The same applies to the lower end limit (S-0-0050) with a loop length < 0. 4.1.2. -
Page 30: Shifting The Positioning Range Upwards Starting From The Delivery State
Instruction Manual PSx3xxSE In the delivery state, the values from the following table result for the upper mapping end and the lower and upper limits: Upper mapping end 102,400 Lower limit 1,200 Upper limit 101,200 Positioning range symmetrical to 51,200 Starting from this state, the maximum possible positioning range can now be shifted upwards or downwards as required. -
Page 31: Shifting The Positioning Range Downwards Starting From The Delivery State
Instruction Manual PSx3xxSE 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. 4.4.3. 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 32: Shifting The Positioning Range Depending On The Actual Position
Instruction Manual PSx3xxSE 4.4.4. 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 33 Instruction Manual PSx3xxSE 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;...
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Page 34: Step-By-Step Instructions For Determining The Positioning Range
Instruction Manual PSx3xxSE 4.4.5. Step-by-step instructions for determining the positioning range The following section describes the procedure for determining those parameters that have an influence on the target and actual position as well as the positioning range. The individual steps must be carried out in the specified order. Setting the direction of rotation: The direction of rotation determines with which direction of rotation of the output shaft the position values increase and with which direction of rotation of... -
Page 35: Readjustment
Instruction Manual PSx3xxSE 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. 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 36: Absolute Measuring System
Instruction Manual PSx3xxSE 4.7. Absolute measuring system The PSx3xxSE actuator includes an absolute measuring system capable of covering a range of 256 rotations. In order to prevent an overrun if an external force rotates the drive when it is switched off, the drive can be positioned in a range of 250 rotations. The three lower and upper rotations of the measurement range are therefore blocked. -
Page 37: Scale For The Positional Data (S-0-0079 And P-0-0079)
Instruction Manual PSx3xxSE Examples: After mounting the drive, the position 51200 is displayed (this corresponds to the delivery state). The positioning range should point exclusively to the right (or top) +253 rotations: Positioning range = actual position + scale * number of rotations S-0-0278 = S-0-0051 + (400 * S-0-0079 / P-0-0079) * number of rotations 152400 = 51200... -
Page 38: Direction Of Rotation (S-0-0055)
Instruction Manual PSx3xxSE When you change the scale for the positional data, the actual value, the referencing value, the positioning range, the upper and lower limits, the positioning window and the loop length are recalculated. 4.7.3. Direction of rotation (S-0-0055) The direction of rotation allows you to specify in which direction the drive should rotate during runs to larger target values. -
Page 39: Technical Data
Instruction Manual PSx3xxSE 5. Technical data For additional specifications and dimension drawings, please visit our website at https://www.halstrup-walcher.de/en/products/drive-technology/ 5.1. Ambient conditions ambient temperature 0 °C to +45 °C storage temperature -10 °C to +70 °C shock resistance according 50 g 11 msec... -
Page 40: Physical Data
Instruction Manual PSx3xxSE 5.3. Physical data 250 usable rotations, no mechanical limits Positioning range measuring system has a span of 256 turns, minus 3 turns security stock at upper and lower range limit torsional rigidity (angle of rotation when switching max. -
Page 41: Certificate Of Conformity
Instruction Manual PSx3xxSE 6. Certificate of Conformity... - Page 42 Instruction Manual PSx3xxSE...
- Page 43 Instruction Manual PSx3xxSE Notes:...
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