halstrup-walcher PS*3**IO, PSS3**IO, PSE3**IO, PSW3**IO Instruction Manual

Document 7100.005374 10/2017
Instruction Manual PSx3xxIO
halstrup-walcher GmbH Stegener Straße 10
Tel.: +49 (0) 76 61/39 63-0 Fax: +49 (0) 76 61/39 63-99
Email: info@halstrup-walcher.de Website: www.halstrup-walcher.de
PSx3xxIO Instruction Manual
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Contents
1 Safety precautions ........................................................................................................... 4
1.1 Appropriate use ........................................................................................................... 4
1.2 Shipping, assembly, electrical connections and start-up .............................................. 4
1.3 Troubleshooting, maintenance, repairs, disposal ......................................................... 4
1.4 Symbols ....................................................................................................................... 4
2 Device description ........................................................................................................... 5
2.1 Functional description .................................................................................................. 5
2.2 Installation ................................................................................................................... 5
2.3 Pin assignment ............................................................................................................ 6
2.4 Meaning of the LEDs................................................................................................... 7
2.5 Commissioning ............................................................................................................ 7
2.6 IO-Link ......................................................................................................................... 9
3 Positioning in "Time stamp” mode ................................................................................. 25
4 Positioning in "6 byte output data" mode ....................................................................... 27
5 Special features ............................................................................................................ 28
6 Technical data ............................................................................................................... 35
Instruction Manual PSx3xxIO
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Purpose of instruction manual
This instruction manual describes the features of PSx3xxIO positioning systems and provides guidelines for their use.
Improper use of these devices or failure to follow these instructions may cause injury or equipment damage. All individuals responsible for operating these devices must therefore be properly trained and aware of the hazards. The instruction manual, and in particular the safety precautions contained therein, must be followed carefully.
Contact the manufacturer if you do not understand any part of this instruction manual.
Handle this manual with care:
It must be readily available throughout the lifecycle of the devices. It must be provided to any individuals who assume responsibility for operating the
device at a later date.
It must include any supplementary materials provided by the manufacturer. The manufacturer reserves the right to continue developing this device model without
documenting such development in each individual case. The manufacturer will be happy to determine whether this manual is up-to-date.
Conformity
This device corresponds to the state of the art and meets all legal requirements set forth in EC directives as evidenced by the CE label.
© 2014, 2015, 2016, 2017
The manufacturer owns the copyright to this instruction manual. This manual contains data, instructions and drawings pertaining to the features and usage of these devices; copying this manual in part or in full or distributing it to third parties is prohibited.
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1 Safety precautions
1.1 Appropriate use
The positioning systems are particularly suitable for automatic adjustment of tools, attachments or spindles for wood processing machines, packaging machines, printing machines, filling systems and special machines.
The PSx3xxIO positioning systems are not stand-alone devices and may only be used if coupled to another machine.
Always observe the operating requirementsparticularly the permissible supply voltage—indicated on the rating plate and in the “Technical data” section of this manual.
The device may only be handled as indicated in this manual. Modifications to the device are prohibited. The manufacturer is not liable for damages caused by improper use or failure to follow these instructions. Violations of this type render all warranty claims null and void.
1.2 Shipping, assembly, electrical connections and start-up
Only technical personnel who are appropriately trained and authorized by the operator of the facility may assemble the device and set up its electrical connections.
The device may only be operated by appropriately trained individuals who have been authorized by the operator of the facility.
Specific safety precautions are given in individual sections of this manual.
1.3 Troubleshooting, maintenance, repairs, disposal
The individual responsible for the electrical connections must be notified immediately if the device is damaged or if errors occur.
This individual must take the device out of service until the error has been corrected and ensure that it cannot be used unintentionally.
This device requires no maintenance. The electronic components of the device contain environmentally hazardous
materials and materials that can be reused. For this reason the device must be recycled in accordance with the environmental guidelines of the jurisdiction in question once it has been taken permanently out of service.
1.4 Symbols
The symbols given below are used throughout this manual to indicate instances when improper operation could result in the following hazards:
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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.
WARNING: This warns you of a potential hazard that could lead to significant property damage if corresponding instructions are not followed.
INFORMATION: This indicates that the corresponding information is important
for operating the device properly.
2 Device description
2.1 Functional description
The PSx3xxIO 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 IO-Link interface. The integrated absolute measuring system eliminates the need for a time-consuming reference run. Connecting to a bus system simplifies the wiring. A hollow shaft with adjustable collar makes assembly quite simple. The positioning system is 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.
PSx3xxIO positioning systems convert a digital positioning signal into an angle of rotation.
2.2 Installation
Hollow shaft: The PSx3xxIO is mounted onto the machine by sliding the hollow shaft of the
positioning gear onto the axis to be driven and then securing it with an adjustable collar (recommended diameter of the axis is either 8h9 or 14h9; wrench torque for screw: 1.5Nm). The adjustable collar should be tightened only just to the point where it can no longer rotate freely. Securing the pin under the hollow shaft into an appropriate bore will prevent further rotation.\line (see drawing)
Solid shaft: The PSx3xxIO is mounted on the machine by fixing the solid shaft with coupling and
intermediate flange to the axis of the machine.
Never apply force to the housing cover, e.g., for supporting weight.
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Driving the PSx3xxIO rearward is prohibited (e.g. it’s not allowed to turn
the output shaft by an external force).
If the diameter of the drive shaft (-8, -14) is not specified with the device name, the information applies for all drive shafts (applies for the entire document). x in the device name stands for a digit in the range 0..9. xxin the device name stands for a number in the range 10..999.
2.3 Pin assignment
In the housing cover of the PSx3xxIO, there is a 5-pin circular plug of the series 713/763 (A-coded) from Binder (IO-Link Class B port) present for the connection of supply voltage and for communication via IO-Link. For PSE34xx, in the housing cover, there is a 5-pin Harting grommet plug HAN4A for the motor supply and a 5-pin circular plug of the Series 713/763 (A-coded) from Binder for the control voltage and IO-Link. A 4-pin plug of the series 718 from Binder serves for the connection of tip buttons (optional).
Connector pin assignment for the power supply and IO-Link for PSx3xxIO
(Top view from the outside)
1. +24V control unit
2. +24V motor
3. GND control unit
4. I/O-Link C/Q
5. GND motor
Connector pin assignment for the power supply and IO-Link for PSE34xxIO
(Top view from the outside)
1. +24V motor
2. GND motor
3. -
4. -
5. Housing (Top view from
the outside)
1. +24V control unit
2. -
3. GND control unit
4. I/O-Link C/Q
5. -
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Connector pin assignment for jog keys (optional)
(Top view from the outside)
1. +24V (output)
2. forward key
3. reverse key
4. ground
2.4 Meaning of the LEDs
The following LEDs are under the transparent sealing plug:
Green LED = RUN LED in accordance with IO-Link:
- off: IO-Link communication not available
- 90% on; 10% off: IO-Link communication available
Orange LED = time stamp function
- off: Process output data consist of control word and target position
- on: Process output data contain time stamp (for an open C/Q-pin)
Yellow LED = Display actuator voltage
- off: no motor voltage present
- Continuous lights: motor voltage present
2.5 Commissioning
After applying the supply voltage the PSx3xxIO may perform no initial reference loop before the first positioning. A positioning or manual drive order may be commenced immediately.
Process of the positioning operation (with loop) The PSx3xxIO distinguishes between the following cases in a positioning process
(assumption: The direction in which each target position is approached is forwards):
1. New position value is greater than current one: The position is approached directly.
2. New position value is less than current one: There is a reverse of 5/8 rotations and the exact position is approached in forward motion.
3. New position value is greater than the current one, but was previously a reverse without loop drive (e.g. a manual drive): Since the loop length > 0, the drive moves the position in all cases with a forward movement, whose length is at least the same as the loop length. In order to achieve this, the drive, if necessary, initially goes in the reverse direction, i.e. in the opposite direction to the desired direction of travel. The maximum length of this route is the loop length.
After reaching the target position, this position is compared with the internal absolute encoder position. In the event of a deviation, the status bit "ERRORis set (Bit 9 in the status word).
In the delivery condition, the loop length is > 0, i.e. each target position is approached in forward direction.
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A positioning on the upper limit (ISDU 129) with a loop length < 0 is not possible because the drive would have to overrun the end limit to achieve this. The same applies to the lower limit (ISDU 130) for a loop length > 0.
Operation of the PSW is not permitted underwater.
Process of the positioning operation without loop
The “positioning without loop” mode is used primarily for moving the small distances
involved in fine adjustments. In this case, each position is approached directly. This does NOT eliminate any play present in the spindle in question. The PSx3xxMod internal gear backlash does not play a role in this case, as position data are acquired directly at the output shaft.
Drives which entail a block drive (e.g. reference drives to block) may only be started with a reduced torque (max. driving torque is a maximum of 10% of the rated torque or the smallest possible value).
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2.6 IO-Link
For the IO-Link interface, IEC 61131-9 Version 1.1.2 is used as the SDCI protocol. The format of the output data can be optionally constructed according to the time
stamp specification from the company Sick (consisting of a time stamp and two control bits), or consist of a control word and target value (process data; this is the delivery condition).
(a) Table of the implemented object directory entries
Designation
ISDU Number
Function
Value range
Secu red
Deli very
R/W IO-Link standard variables
Direct Parameter 1
0
Sub 1: Master command Sub 2: Master cycle time Sub 3: Minimum cycle time Sub 4: M-Sequence Capability Sub 5: IO-Link version ID Sub 6: Process data input length Sub 7: Process data output length Sub 8: Vendor ID 1 Sub 9: Vendor ID 1 Sub 10: Device ID 1 Sub 11: Device ID 2 Sub 12: Device ID 3 Sub 13: reserved Sub 14: reserved Sub 15: reserved Sub 16: Standard command
8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit 8 bit
68 43 17 135 16 2 216
0 0 0
W R/W R R R R R R R R R R R R R W Standard command
2
To trigger specific commands
8 bit
W
Value 128
130 160
161
Meaning Reset device
Restore factory setting Restore factory setting without
changing the process data format Save the parameters in EEPROM
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Designation
ISDU Number
Function
Value range
Secu red
Deli very
R/W IO-Link standard variables (continuation)
Device access locks
12
Bit 0: parameter (write) access lock Bit 1: data storage lock Bit 2: local parameterisation lock Bit 3: local user interface lock
16 bit
yes 0 R/W
Vendor name
16
halstrup-walcher GmbH
String
R
Vendor text
17
www.hwg.eu
String
R
Product name
18
depending on the gearbox type, e.g. PSE312-8-IO
String
R Product-ID
19
PSE
String
R
Product text
20
Positioning system
String
R
Serial number
21
as a string of 5 characters, e.g. "00042"
String
R
Hardware version
22
e.g. V1.0
String
R
Firmware version
23
e.g. V1.0
String
R
Application specific. tag
24
any text (max. 16 characters).
String
“”
R/W Status requests
Status
64
Bit 0: target position reached Bit 1: drag error 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 Bit 7: temperature exceeded Bit 8: movement opposite loop direction Bit 9: error Bit 10: positioning error (block) Bit 11: manual displacement Bit 12: incorrect target value Bit 13: motor power was missing Bit 14: positive range limit Bit 15: negative range limit
0..FFFFh 16 bit
R
Actual rpm
65
Current speed in rpm
16 bit
R
Set actual value
66
If this par. is set to 0 and the subsequent write command affects the actual position (67), the writing of the actual position is suppressed.
01 8 bit
no 0 R/W
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Designation
ISDU Number
Function
Value range
Secu red
Delivery
R/W Status requests (continuation)
Actual value
67
Current actual position, value in 1/100 mm (for default settings of numerator ISDU 124 and denominator ISDU 125 and spindle pitch 4 mm) Writing onto this register causes the
current position to be “referenced” onto
the transferred value
31 bit
no R/W
Actual torque
68
Current torque in cNm
16 bit
R
Maximum torque
69
Maximum torque on the last run (start phase during which the ISDU release torque applies, see ISDU 152/160, as well as brake phase are not taken into account) Value in cNm
16 bit
R
U control
70
Current supply voltage of the control in
0.1 V
16 bit
R
U motor
71
Current supply voltage of the motor in
0.1 V
16 bit
R
Device temperature.
72
Temperature inside the device in °C
16 bit
R
Production date
77
Year and week of manufacture (as integer number)
YYWW 16 bit
R
Serial number
78
Current device serial number
0...65535 16 bit
R
Device model
79
one of the following device types from the PSx range (indicate 5-digit numbers in the last 2 digits of the diameter of the output shaft):
PSE and PSS:
30108, 30114, 30208, 30214, 30508, 30514, 31108, 31114, 31208, 31214, 315, 322, 325, 332, 335, 3110, 3125, 3410, 3418
PSW:
36108, 36114 (= 301-8/14) 36208, 36214 (= 302-8/14) 36508, 36514 (= 305-8/14) 37108, 37114 (= 311-8/14) 37208, 37214 (= 312-8/14) 375 (=315-8) 382 (=322-14) 385 (=325-14) 392 (=332-14) 395 (=335-14)
16 bit
R
Software version
80
Software version number
16 bit
R
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Designation
ISDU Number
Function
Value range
Secu red
Delivery
R/W Run commands
Set control word
109
If this par. is set to 0 and the subsequent write command affects the control word (110), the writing of the control word is suppressed.
01 8 bit
no 0 R/W
Control word
110
Bit 0: manual run to larger values Bit 1: manual run to smaller values Bit 2: transfer target values (for transferring the target values with the help of the process data, the positioning is only started if this bit is set.) Bit 3: release manual run in jog mode: If the bit is deleted, only individual steps are available in the jog mode Bit 4: release: The axis is only driven when the bit is set (except jog mode with buttons or with Bits 8/9). Bit 5: release jog operation with keys: For an existing IO-Link connection, the external buttons are only active when the bit is set. Bit 6: run without loop Bit 7: run initial reference loop Bit 8: jog to larger values Bit 9: jog to smaller values Bit 10: readjustment Bit 11: execute braking free run Bit 12: run with drag error correction
All other bits must be set to 0!
16 bit
no 0 R/W
Set target position
111
If this par. is set to 0 and the subsequent write command affects the target position (112), the writing of the control word is suppressed.
01 8 bit
no 0 R/W
Target position
112
Target position to be approached Value in 1/100 mm (for the default values of numerator ISDU 124 and denominator ISDU 125 and spindle pitch 4 mm)
31 bit
no 0 R/W
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Designation
ISDU Number
Function
Value range
Secu red
Delivery
R/W Bus communicationparameter group
Process data format
116
0  with time stamp function 1  with 6 bytes of output data After saving and restarting, the device reports with the Device ID which corresponds to the gearbox type: with time stamp function odd ID (e.g. 3120801) with 6 bytes of output data even ID (e.g. 3120802)
01 8 bit
yes 1 R/W
Communicati on timeout
118
Value in milliseconds If the value is 0, the communication timeout is disabled. A value > 0 defines the time within which the master must send a new message to maintain the connection. A timeout either results in a drive cancellation (value of ISDU 137 = 1) or a drive to the safety position defined by ISDU 138(value of ISDU 137 = 2).
0 10000 16 bit
yes 0 R/W
Stack behaviour
119
Bit 0: Device sends diagnostic messages All other bits must be set to 0!
8 bit
yes 1 R/W
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Designation
ISDU Number
Function
Value range
Secu red
Delivery
R/W Position valuesparameter group
Direction of rotation
123
0: clockwise (when looking at the output shaft) 1: counter clockwise
0 or 1 8 bit
yes 0 R/W
Actual value assessment, numerator
124
With these values, any user resolution can be mapped on the drive. For a numerator factor 400, the spindle pitch / resolution is in the denominator factor e.g.: Spindle pitch 1.5mm with resolution 1/100 mm: numerator = 400, denominator = 150
1...10000 16 bit
yes
400
R/W
actual value assessment, denominator
125
1...10000 16 bit
yes
400
R/W Write referencing value
126
If this par. is set to 0 and the subsequent write command affects the referencing value (127), the writing of the referencing value is suppressed.
01 8 bit
no 0 R/W Referencing
value
127
Value by which setpoints, actual values and limit values are corrected
31 bit
yes 0 R/W
Upper mapping end
128
Definition of the positioning range relative to the absolute value encoder permitted values: (1 + referencing value) ... (204800 * denominator/numerator - 1 + ref.value)
31 bit
yes
102400
R/W
Upper limit
129
maximum permissible target position permitted values: (upper mapping end -
1200..101200 * denominator/numerator)
31 bit
yes
101200
R/W
Lower limit
130
minimum permissible target position permitted values: (upper mapping end -
1200..101200 * denominator/numerator)
31 bit
yes
1200
R/W
Positioning window
131
Permissible difference between the target and the actual value for the "Position reached" bit The maximum settable value changes in the same factor as the resolution
1...100 16 bit
yes 2 R/W Loop length
132
Minimum number of steps in which the drive approaches a target in a predefined direction Value in steps (0 no loop)
0.0251 revolutio n or 0 32 bit
yes
250
R/W Drag error
133
Maximum drag error before the "drag error" bit is set. Value is expressed in steps (at a resolution of 0.5 mm)
20...1000 16 bit
yes
40
R/W
Loop direction
134
0: with 5/8 turn forwards 1: with 5/8 turn backwards (5/8 revolutions is the default value, p. ISDU 132)
0 or 1 8 bit
yes 0 R/W Jog increment
135
The number of steps when briefly pressing the external buttons (or briefly activating a jog drive)
1...100 16 bit
yes 1 R/W
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Designation
ISDU Number
Function
Value range
Secu red
Delivery
R/W Position valuesparameter group (continuation)
Number breaking free steps
136
Number of steps for the brake release drive
1...50 16 bit
yes
*)
R/W
Configuration for connection timeout
137
Reaction of the drive to a connection failure 0  reserved 1  drive cancellation 2  Drive to a safe position (see ISDU
138) (a connection failure is only detected for ISDU 118 > 0.)
16 bit
yes 1 R/W
save position for connection timeout
138
If the "Drive to safe position" is configured (see ISDU 137), the drive moves into this position in the event of a connection timeout.
31 bit
yes 0 R/W
"Speed" parameter group
Target rpm abs
142
Maximum speed to be used for position drives Value in rpm
*) 16 bit
yes
*)
R/W Target rpm CCW
143
Value in rpm
*) 16 bit
yes
*)
R/W
Target rpm CW
144
Value in rpm
*) 16 bit
yes
*)
R/W
Target rpm jog
145
Maximum speed to be used for manual drives Value in rpm
*) 16 bit
yes
*)
R/W
Rpm limit abort
146
Speed limit for drive cancellation Value in % of the target speed
30...90 16 bit
yes
60 PSE311 0 and PSE312 5 30 (all others)
R/W
Acceleration
147
Value in rpm per sec.
*) 16 bit
yes
*)
R/W
Deceleration
148
Value in rpm per sec.
*) 16 bit
yes
*)
R/W
*) Values are dependent on the gearbox type (see the following table).
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Designation
ISDU Number
Function
Value range
Secu red
Delivery
R/W "Torque" parameter group
Maximum start torque
152
Value in cNm
*) 16 bit
yes
*)
R/W
Maximum torque
153
Applies after the end of the start-up phase (during the start phase, the value from ISDU 152 applies); value in cNm
*) 16 bit
yes
*)
R/W
Max. holding torque at drive stop
154
Value in cNm
*) 16 bit
yes
*)
R/W Holding torque
155
Holding torque at standstill in cNm
*) 16 bit
yes
*)
R/W Timeparameter group
time elapsed until speed falls below rpm limit for aborting run
159
Value in milliseconds
50...500 16 bit
yes
200
R/W time period
for start-up torque
160
Value in milliseconds
10...1000 16 bit
yes
200
R/W
duration of maximum holding torque at end of run
161
time period at end of run, in which the
‘maximum holding torque at end of run’
applies (value in milliseconds)
0..1000 16 bit
yes
200
R/W idle period for
direction change
162
Waiting time in milliseconds for reversal of direction of rotation
10... 10000 16 bit
yes
10
R/W
Wait time for manual drive
163
The time a manual drive button must be pressed (or a jog drive bit must be activated), so that a manual drive begins Value in steps of 5 msec
20...2000 16 bit
yes
200
R/W
Wait time for brake (drive start)
164
Time period prior to the drive start in which the brake can be released without the engine moving (value in milliseconds)
0...2000 16 bit
yes
150
R/W Wait time for brake (drive end)
165
Period of time after the drive end for which the brake remains released (value in milliseconds)
0...3000 16 bit
yes
1000
R/W
UMot filter
166
Average time for motor voltage measurement in steps of 5 msec
100... 1000 16 bit
yes
100
R/W
*) Values are dependent on the gearbox type (see the following table).
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Designation
ISDU Number
Function
Value range
Secu red
Delivery
R/W Otherparameter group
General purpose
171-180
10 freely-usable registers
16 bit
yes 0 R/W
UMot limit
181
Voltage limit for Bit ‘motor power present’ in 0.1 V
180...240 16 bit
yes
185
R/W
Temperature limit
182
Temperature limit °C for overtemperature
10...70 16 bit
yes
70
R/W
Delivery state
193
Writing a "-1": Sets the delivery state, without changing the process data format (starts initial reference loop, positioning on the measuring range middle) Writing a "-2": Sets the delivery state, (process data format, starts initial reference loop, positioning on the measuring range middle) A new process data format is only active after a "Reset" command or a restart! Writing a "1": Saves the parameters in EEPROM Writing a "0": No action Writing a "2": Sets the delivery state, without performing an initial reference loop and without positioning on measuring range centre (process data format ISDU 116 to 1) A new process data format is only active after a "Reset" command or a restart! Writing a "3": Sets the delivery state, without changing the process data format, without performing an initial reference loop and without positioning on the measuring range middle Read after booting: 0  memory contents correct 0  memory contents incorrect Read after saving: 0  Save successfully completed 0  Save is still running or completed with error (saving can take up to 2000ms)
-23 (When writing)
0...2 (When reading) 15 bit
no R/W
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Table of the speed and torque values for the different gear types
Device type PSE and PSS
301-x 311-x
302-x 312-x
305-x 315-8
322-14 332-14
325-14 335-14
328-14
Designation
ISDU No.
Value range
delivery
Target rpm abs
142
15...230 230
10...150 150
3...70 70
20...200 170
10...100
85
545
45
Target rpm jog
145
15...230
80
10...150
50
3...70 20
20...200 80
10...100 40
545
22
Target rpm CCW
143
15...230
230
10...150
150
3...70 70
20...200 170
10...100
85
545
45
Target rpm CW
144
15...230 230
10...150 150
3...70 70
20...200 170
10...100
85
545
45
Acceleration
147
97...600 600
50...400 400
23...130 130
97...525 525
50...260 260
22100
100
Deceleration
148
97...600 600
50...400 400
23...130 130
97...525 525
50...260 260
22100
100
Maximum torque
153
2...100 100
10...200 200
50...500 500
10...200 200
20...400 400
80...800 800
Maximum start torque
152
2...125 125
10...250 250
50...600 600
10...250 250
20...500 500
80...960 960
Maximum holding torque
155
0...90 30
0...150 50
0...300
100
0...100 35
0...200 70
0...450
150
Max. holding torque at drive stop
154
0...180 60
0...300
100
0...600
200
0...200 70
0...400
140
0...900
300
Number of breaking free steps
136
1...50 4
1...50 4
1...50 3
1...50 4
1...50 4
1...50 3
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Device type PSW
301-x 311-x
302-x 312-x
305-x 315-8
322-14 332-14
325-14 335-14
328-14
Designation
ISDU No.
Value range
delivery
Target rpm abs
142
15...180 180
10...125 125
3...60 60
20...150 125
10...80 60
535
35
Target rpm jog
145
15...180 80
10...125 50
3...60 20
20...150 80
10...80 40
535
22
Target rpm CCW
143
15...180 180
10...125 125
3...60 60
20...150 125
10...80 60
535
35
Target rpm CW
144
15...180 180
10...125 125
3...60 60
20...150 125
10...80 60
535
35
Acceleration
147
97...600 600
50...400 400
23...130 130
97...525 525
50...260 260
22100
100
Deceleration
148
97...600 600
50...400 400
23...130 130
97...525 525
50...260 260
22100
100
Maximum torque
153
2...100 100
10...200 200
50...500 500
10...200 200
20...400 400
80...800 800
Maximum start torque
152
2...125 125
10...250 250
50...600 600
10...250 250
20...500 500
80...960 960
Maximum holding torque
155
0...90 30
0...150 50
0...300
100
0...100 35
0...200 70
0...450
150
Max. holding torque at drive stop
154
0...180 60
0...300
100
0...600
200
0...200 70
0...400
140
0...900
300
Number of breaking free steps
136
1...50 4
1...50 4
1...50 3
1...50 4
1...50 4
1...50 3
Device type PSE
3110
3125
3210 3310
3218
Designation
ISDU No.
Value range
delivery
Target rpm abs
142
130
30
112
12
5...45 38
3...30 28
Target rpm jog
145
130
12
112
5
5...45 15
3...30 10
Target rpm CCW
143
130
30
112
12
5...45 38
3...30 28
Target rpm CW
144
130
30
112
12
5...45 38
3...30 28
Acceleration
147
950
50
420
20
20...117 117
11...70 70
Deceleration
148
950
50
420
20
20...117 117
11...70 70
Maximum torque
153
100...1000 1000
250...2500 2500
100...1000 1000
180...1800 1800
Maximum start torque
152
100...1200 1200
250...3000 3000
100...1200 1200
180...2200 2200
Maximum holding torque
155
0...600 200
0...1250 450
0...500 175
0...900 300
Max. holding torque at drive stop
154
0...1200 400
0...2500 900
0...1000 350
0...1800 600
Number of breaking free steps
136
1...50 3
1...50 3
1...50 3
1...50 3
PSx3xxIO Instruction Manual
20
Special version
PSE
3325
3410
3418
311-8/So
Designation
ISDU No.
Value range
delivery
Target rpm abs
142
2...18 15
10...100 100
5...90 90
30...1000 750
Target rpm jog
145
2...18 6
10...100 40
5...90 30
30...1000 250
Target rpm CCW
143
2...18 15
10...100 100
5...90 90
30...1000 750
Target rpm CW
144
2...18 15
10...100 100
5...90 90
30...1000 750
Acceleration
147
8...45 45
20...350 350
10...315 315
305...1800 1800
Deceleration
148
8...45 45
20...350 350
10...315 315
305...1800 1800
Maximum torque
153
250...2500 2500
100...1000 1000
100...1800 1800
5...50 50
Maximum start torque
152
250...3000 3000
100...1200 1200
100...2000 2000
5...60 60
Maximum holding torque
155
0...1250 450
0...300
200
0...450
300
0...30 10
Max. holding torque at drive stop
154
0...2500 900
0...600
400
0...900
600
0...60 20
Number of breaking free steps
136
1...50
3
1...50
4
1...50
4
1...50
4
(b) Process Data Definition
1) Process output data (from the point of view of the IO-Link master)
Assignment for the variant "time stamp function:
Bit
Meaning
0-1
Control bits
0  abort run 1  Manual drive to larger values 2  Manual drive to smaller values 3  Positioning drive to the target position previously set with ISDU 112
2-15
Time stamp
Time after which the drive should execute the command (value in 4µs) 0x3FFF = 16383 No new time stamp
The base time is 4µs, i.e. the relevant time stamp value is calculated as follows from the desired delay time:
µs
µsdelaytimedesired
alueTimestampv
4
_
Instruction Manual PSx3xxIO
21
Since the time stamp value must lie in the range [016368], the maximum possible delay time is 65.472ms.
A valid time stamp that is cyclically transmitted creates no response in the drive because the last time stamp becomes invalid when a new one is entered. Therefore, the intended action is only executed if the time stamp is inactive, i.e., accepts the value 16383.
Time stamp values < 2000 are executed immediately, since the delay time is then < 8 ms and is therefore less than the IO-Link cycle time.
The drive acknowledges the triggering of a time stamp with a 250ms-long dark phase of the orange LED. When the orange LED is permanently dark, the drive continuously receives valid time stamps.
Assignment for the variant "6 bytes of output data":
Bit
Byte
Meaning
Corresponding IO-Link parameters
0-15
0.1
Control word
110
16-47
4-7
Target position
112
The desired variant for the process output data is specified by ISDU 116 ("Process Data Format"), the default is "6 bytes of output data ".
2) Process input data (from the point of view of the IO-Link master) Assignment:
Bit
Byte
Meaning
Corresponding IO-Link ISDUs
0-15
0.1
Status
64
16-31
2.3
Actual rpm
65
32-63
4-7
Actual value
67
The assignments are not changeable.
(c) Detailed description of the status bits
Bit 0: target position reached set:
- After a successful arrival to a transferred target position
- If after the initial reference loop the actual value corresponds to the previously transferred target position
reset:
- after transfer of a target position if the difference to the actual value is greater than the positioning window ISDU is (131)
- by a manual run
- for a transfer of an invalid target position
- for manual turning at standstill
PSx3xxIO Instruction Manual
22
Bit 1: Drag error set:
- If the set maximum speed is not reached after the end of the acceleration phase
reset:
- with each new run command
Bit 2: Reverse jog key active set:
- If Pin 3 of the key connector is connected with Pin 1 (+24V),
reset:
- If Pin 3 of the key connector is disconnected with Pin 1 (+24V),
Bit 3: Forward jog key active set:
- If Pin 2 of the key connector is connected with Pin 1 (+24V),
reset:
- If Pin 2 of the key connector is disconnected with Pin 1 (+24V),
Bit 4: Motor power present set:
- If the motor supply voltage is above the Umot limit (ISDU 181) and below 30V
reset:
- If the motor supply voltage is below the Umot limit or above 30V
Bit 5: Positioning run aborted set:
- if a positioning run is cancelled by cancelling the release in the control word
reset:
- when a new run command is sent
Bit 6: Drive is running set:
- with rotating drive
reset:
- at standstill
Bit 7: Temperature exceedance set:
- If the temperature inside the device exceeds the limit value from ISDU 182
deleted:
- If the temperature inside the device exceeds the limit value by 5°C
Bit 8: Movement opposite loop direction set:
- for manual drive against the positioning direction (a subsequent manual travel in positioning direction no longer deletes this bit)
- during a positioning operation against the loop direction
reset:
- After a successful arrival to a transferred target position in loop direction
- after a initial reference loop
Bit 9: Error set:
Instruction Manual PSx3xxIO
23
- if an internal problem has been detected in the position calculation If the error bit is set, no drive orders are possible apart from the initial refer­ence loop
reset:
- If a initial reference loop is completed correctly
Bit 10: Positioning error (block) set:
- If a positioning run has been cancelled as a result of overload (block, strong stiffness)
reset:
- by ordering a positioning order
- after a correctly-completed initial reference loop
Bit 11: Manual displacement set:
- If the drive, at a standstill, is rotated from the outside by more than the value set in the positioning window
reset:
- by ordering a positioning order
- after a correctly-completed initial reference loop
Bit 12: Incorrect target value set:
- If a transferred target value is outside of the limit switch limits, also caused e.g. by the act. value of the referencing value (ISDU 127)
- If a transferred target value is within the limit switch limits, but would leave the specified range through a necessary loop drive
reset:
- by sending a valid setpoint value
Bit 13: Motor power was missing set:
- if the motor voltage is under the ISDU Umot limit (181) or above 30V when ordering a positioning or initial reference loop
- If, during the drive, the motor voltage leaves the specified corridor
reset:
- if the motor voltage is above the ISDU Umot limit (181) or below 30V when ordering a positioning or initial reference loop
Bit 14 / 15: Forward / reverse end limit is approached set:
- if the end limit value is reached by manual drive (not if this is achieved by positioning drive)
- If an end switch limit is changed so that the current position is outside
- if, during standstill, the drive is moved by an external force to a position out­side the range defined by the end switch limits
reset:
- At the start of a positioning, initial reference loop or manual drive
PSx3xxIO Instruction Manual
24
(d) Detailed description of the control bits
Bit 0: Manual run to larger values Bit 1: Manual run to smaller values Bit 2: Transfer target values: For transferring a target value with the help of the
process data, the positioning is only started if this bit is set.
Bit 3: Release for manual run in jog key mode: This bit must be set in order to
switch from jog key mode (run activated via the keys, if bit 5 is set; or via command if bit 8 or 9 is set in the control word, if bits 4 and 5 are not set) to manual run mode by holding down a key (or a jog key bit is activated for a longer time). Single increments are the only option in jog key mode if this bit is reset.
Bit 4: Release: Run commands are only executed when the bit is set (except jog
mode with buttons or with Bits 8/9 of the control word). This bit must be set for positioning runs and manual runs, it may not be set for jog runs. If it is cleared during a run, this is cancelled and status bit 5 is set ("Positioning run aborted").
Bit 5: Release jog operation with keys: If there is an existing IO-Link connection, jog
mode via buttons is only possible if this bit is set and bit 4 is reset. For jog mode via IO-Link (bits 8 or 9 in the control word), this bit may not be set.
Bit 6: Run without loop: If the bit is set, all targets positions are approached directly
(without any loop).
Bit 7: Initial reference loop: 5/8 turns against loop direction and then 5/8 in loop
direction at manual drive speed. This command had to be executed after switch-on in previous versions. This is no longer the case.
Bit 8: Jog to larger values: Functionally corresponds to a pressed button forward (Bit
3 in status). Bits 4 and 5 may not be set in this operating mode!
Bit 9: Jog to smaller values: Functionally corresponds to a pressed button backward
(Bit 2 in status). Bits 4 and 5 may not be set in this operating mode!
Bit 10: Release readjustment: The drive only readjusts with a set bit, if it is pushed
against the loop position after the end of a drive. If Bit 6 (Run without loop) is set, the drive readjusts in both directions.
Bit 11: Execute braking free run: At the start of the positioning, the brake is initially
actuated and the waiting time for brake (drive start)is temporised (ISDU
164). In this time, the brake should move into the working position (in this brake position, the engine can move freely). After the end of the waiting period, a certain distance is driven in both directions to release any stuck brakes. This distance (number of release steps”) is set in ISDU 136. Bit 4 must be set at the same time for the execution of the command.
Bit 12: Run with drag error correction: With a set bit, the drive attempts, under
consideration of the set maximum current, to amend a tracking error that has occurred by controlling the speed at a value which is slightly above or below
Instruction Manual PSx3xxIO
25
the specified target speed (ISDU 142). Drag error correction only takes place for positioning drives, i.e. not for manual or jog drives. It also only takes effect during acceleration or a drive at constant speed, not during deceleration. The speed setpoint for acceleration results from the speed at the start of the positioning as well as from the specified acceleration (ISDU 147).
Bit 13: reserved, must be set to 0! Bit 14: reserved, must be set to 0! Bit 15: reserved, must be set to 0!
3 Positioning in "Time stampmode
This mode is active when the orange LED is permanently on with the C/Q pin open.
(a) Positioning run
- to control the drive, it must first be switched to the IO-Link status "operate".
- disable time stamp (value 0x3FFF = 16383)
- transfer desired setpoint with ISDU 112
- control bits (from the process output data) at 0x03
- time stamp at the desired value, e.g. 10000 (the master now continuously sends new time stamps, which is why the drive order is never started in this state.)
- disable time stamp (value 0x3FFF = 16383)
The last time stamp remains valid. Drive starts to move
- Cancellation of drive by withdrawing the release: Control bits at 0x00 with time stamp 0 drive cancellation is executed immediately
- if a new target position is transferred during the positioning run, the new destination is approached immediately. If the direction of rotation does not need to be changed, this is done without interruption.
- if a manual run command is sent during a position run, the positioning run is interrupted (speed reduced to slow speed) and continued with the manual run.
PSx3xxIO Instruction Manual
26
(b) Positioning run without loop
The sequence corresponds to a positioning run with loop. To perform a positioning run without a loop, Bit 6 must be set in the control word in addition to the release (Bit 4 in control word; set by the control bits in the process output data) (Run without loop). Before the positioning run, set the control word with the help of ISDU 110 to 0x40.
(c) Manual run
- disable time stamp (value 0x3FFF = 16383)
- Transfer manual run: Control bits at 0x01 or 0x02): Drive starts to move
- time stamp at the desired value, e.g. 10000
- disable time stamp (value 0x3FFF = 16383) Drive starts to move
- Ending of drive by withdrawing the release: Control bits at 0x00 with time stamp 0 drive cancellation is executed immediately
- In the case of transfer of a target value during a manual run this is ended and the target position is approached immediately.
If the time stamp is permanently inactive in the process output data (value 0x3FFF - 16383), the drive can be completely controlled with the help of ISDU.
(d) Positioning drive with inactivated time stamp
- target position transfer (control word, ISDU 110 = 0x10 and target position, ISDU
112): Drive starts to move
- Cancellation of drive by withdrawing the release (send control word = 0x00)
- if a new target position is transferred during the positioning drive, the new destination is approached immediately. If the direction of rotation does not need to be changed, this is done without interruption.
- if a manual run command is sent during a position run, the positioning run is interrupted (speed reduced to slow speed) and continued with the manual run.
The following sequence is also possible: Initial situation:
- release is not set
- the target position has already been transferred
Set Release (Bit 4 in the control word): Drive starts to move
(e) Positioning run without loop with inactivated time stamp
The sequence corresponds to a positioning run with loop. To perform a positioning run without a loop, Bit 6 (“run without loop”) must be set in addition to the release (Bit 4 in control word).
Instruction Manual PSx3xxIO
27
(f) Manual run with inactivated time stamp
- transfer manual run (send control word, ISDU 110 with value 0x11 or 0x12): Drive starts to move
- Exit the manual run by withdrawing the manual travel command (send control word with the value 0x10) or by cancelling the release (send control word with the value 0x00).
- In the case of transfer of a target value during a manual run, this is ended and the sent position is approached immediately.
4 Positioning in "6 byte output data" mode
This mode is active when the orange LED is permanently dark with the C/Q pin open.
(a) Positioning run
- to control the drive, it must first be switched to the IO-Link status "operate".
- transfer target position: Control word = 0x14 and the desired target position Drive starts to move
- Cancellation of drive by withdrawing the release: Control word = 0x00
- if a new target position is transferred during the positioning run, the new destination is approached immediately. If the direction of rotation does not need to be changed, this is done without interruption.
- if a manual run command is sent during a position run, the positioning run is interrupted (speed reduced to slow speed) and continued with the manual run.
The following sequence is also possible: Initial situation: Release is not set
- transfer target position: Control word = 0x04 and desired target position
- set release: Control word = 0x10 Drive starts to move
(b) Positioning run without loop
The sequence corresponds to a positioning run with loop. To perform a positioning run without a loop, Bit 6 (Run without loop) must be set in the in addition to the release (Bit 4) in control word.
PSx3xxIO Instruction Manual
28
(c) Manual run
- transfer manual drive (control word = 0x11 or 0x12): Drive starts to move
- stop the manual run by withdrawing the manual run command (send control word 0x10) or by cancelling the release (send control word 0x00).
- In the case of transfer of a target position during a manual drive this is ended and the sent position is approached immediately (control = and desired target position value).
5 Special features
(a) Speed, acceleration and deceleration
The initial reference loop and the manual run are performed at the maximum speed specified in ISDU 145, positioning runs with the maximum velocity from ISDU 142. For counterclockwise runs the maximum speed from ISDU 143 also applies, for clockwise runs the one from ISDU 144. The maximum acceleration from ISDU 147 and the maximum deceleration from ISDU 148 apply for all runs. At the drive end, the maximum delay is successively reduced during the approach to the destination to realise a harmonious transient response.
(b) Behaviour of the drive in the case of blocking
If, during a run the achievable speed is lower than the limit value of 30% for longer than 200 ms (ISDU 159) of the selected maximum speed (ISDU 146) (these are the default values), a block is detected, the run is aborted and the bit 'positioning erroris set. The drive then waits with the set holding torque (ISDU 155).
New run commands can then be sent without further action i.e. the transfer of a new target position starts a new positioning procedure.
An exception is if the target value is the same as before. In this case, depending on the operating mode, you must proceed as follows:
1) "Time stampmode:
- control bits (from the process output data) at 0x00
- Time stamp at the desired value, e.g. 10000
- Disable time stamp (value 0x3FFF = 16383)
- control bits (from the process output data) at 0x03
- time stamp at the desired value, e.g. 10000
- Disable time stamp (the value 0x3FFF = 16383) Drive starts to move
2) "Time stamp" mode with permanently-inactivated time stamp:
First, the release must be withdrawn and then set again (Bit 4 in control word). The target position must be transferred again (ISDU 112). Drive starts to move
3) 6 bytes of output datamode:
Withdraw the release and then set again (Bit 4 in control word). Bit 2 ("transfer target values") must also be set when setting the release bit.
Instruction Manual PSx3xxIO
29
(c) Behaviour of the drive during manual displacement (readjustment function)
If the PSx3xxIO at standstill is rotated against the loop direction by an external force after a correctly-completed positioning run (or manual run to a range limit) and the release bit (Bit 4) and the readjustment bit (Bit 10) are set in the control word, it tries to approach the previously-sent target position again (readjustment). When rotating in the loop direction, no adjustment takes place, only Bit 11 in the status word (manual displacement) is set and Bit 0 (target position is reached) is reset. If Bit 6 (run without loop) is set, the drive readjusts in both directions.
If the drive loses its position continuously at a standstill, the adjustment attempt starts precisely when the actual position leaves the positioning window (assuming that all of the above conditions are met). At this point the motor power must be in the permissible range (i.e. Bit 4 is set in the status word). In case of missing motor power, no adjustment starts, instead, Bit 10 ("positioning error") and 13 ("motor power was missing") become active. If the motor voltage comes back into range after the exit of the positioning window, no new adjustment attempt starts. This prevents a situation in which a drive suddenly starts a movement when the engine voltage is turned on.
If a positioning or manual run in progress is interrupted by a stop command (release bit in control word at 0) the drive only adjusts when a new run command is sent and is correctly completed.
By removing the release and/or the readjustment bit, the readjustment can be completely prevented.
Drives with brakes have no adjustment function.
(d) Calculation of the physical absolute position
The actuator PSx3xxIO has an absolute measuring system with a measuring range of 250 revolutions. Therefore, the direction of rotation in which part of this 250 revolutions should be traversed can be defined. The mapping of the desired positioning range to the physical positioning range is done with the help of the parameter "upper mapping end" (ISDU 128). In the delivery state, the drive is at position 51200, upper limit switch is 101200, lower limit switch is 1200. The result is a traversing range of ±125 revolutions (±50000 steps). If the desired traversing range does not exceed ±125 revolutions none of the measures described below need to be taken in the delivery state to set the traversing range.
For the realization of any desired positioning range independent of the possible positioning range which is defined by the mounting situation (physical positioning range) there are the following two possibilities:
1) Move the axle (for example a spindle) to the desired position, then move the drive
(with opened collar) to the position value which belongs to the physical position of the axle, only then close the collar. 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.
PSx3xxIO Instruction Manual
30
(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. top).
(c) Move the axle completely to the right (resp. top), then move the drive at no-
load (with opened collar) to the highest position (position 101200), then close the collar. The drive is now capable of moving 250 rotations (±100000 increments by default) to the left (resp. bottom).
2) Mount the drive in any position on the axle, close the collar, then adjust the
positioning range with the help of ISDU 128. ISDU 128 specifies the upper end of the positioning range. By default, the upper end position is at +256 revolutions (Position 102400). If the positioning range does not match the position currently displayed after the installation of the drive, this can be freely selected between ­256 and 512 rotations. Examples: (a) After assembly, the displayed position is 51200 (which corresponds to the
delivery state). The positioning range should show solely to the right (or above)
Set ISDU 128 to 152400.
(b) After assembly, the displayed position is 100000. The positioning range should
show solely to the right (or above) Set ISDU 128 to 201200.
(c) After assembly, the displayed position is 2000. The positioning range should
show solely to the left (or down) Set ISDU 128 to 3200.
Comments:
1) For the calculation of the upper mapping end (ISDU 128) (as in the above
examples) a safety margin of 3 turns (default 1200 steps) must be complied with, because the maximum possible position value is 3 rotations underneath the top end mapping. The smallest possible position value is 253 rpm below the upper end mapping.
2) The specified step numbers or position values refer to the following settings, which
correspond to the delivery condition: (a) reference value (ISDU 127) = 0 (b) actual value assessment, numerator (ISDU 124) = 400 (b) actual value assessment, denominator (ISDU 125) = 400 These 3 ISDUs influence the above step numbers or position values: With the reference value, an offset can be achieved, with the numerator/denominator assessment, a stretch or elongation (see below).
3) In the event of a change of the direction of rotation (ISDU 123), the referencing
value (ISDU 127), the upper mapping end (ISDU 128) and the upper and lower limit (ISDU 129 and 130) are set to delivery state.
4) In the event of a change of the upper mapping end (ISDU 128) the upper and
lower limit (ISDU 129 and 130) are set to delivery state.
5) When changing the actual value assessment numerator or denominator (ISDU 124
or ISDU 125), the target value, the actual value, the reference value, the upper mapping end, the upper and lower limit, the positioning window and the loop length are re-calculated.
6) In the event of a change in the referencing value (ISDU 127), the target position,
the actual value, the upper mapping end as well as the upper and lower limits are re-calculated.
7) If the user wishes to avoid any automatic adjustment of values in the
parameterisation of the drive, the optimal sequence when sending the parameters is the following: (a) direction of rotation (ISDU 123),
actual value assessment, numerator (ISDU 124), actual value assessment, denominator (ISDU 125)
(b) referencing value (ISDU 127)
Instruction Manual PSx3xxIO
31
(c) upper mapping end (ISDU 128) (d) upper limit (ISDU 129),
lower limit (ISDU 130), positioning window (ISDU 131) length of loop (ISDU 132)
8) To save the settings permanently in the EEPROM, a 1must be written in ISDU
193. As soon as the reading of ISDU 193 returns a 0, the save is finished.
Referencing value (ISDU 127) With the referencing value (ISDU 127), a displacement of the entire value range can be achieved. The referencing affects all of the transferred values, i.e. the target position, the actual value, upper mapping end and upper and lower limits. The referencing value can be set in two ways:
1) directly by writing the referencing value in ISDU 127.
2) indirectly by writing an actual value in ISDU 67. This allows any "real" actual value
to be assigned 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 ISDU 127. In the event of a change in the referencing value, the target position,the actual value, the upper mapping end as well as the upper and lower limits are automatically re­calculated.
The removal of the motor power supply has no influence on the internal measuring system.
(e) Using actual value assessment factors to set the spindle pitch
On ISDU 124 (numerator factor) and 125 (denominator factor), any spindle resolutions can be mapped:
Number of steps per revolution = 400 * (denominator / numerator)
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.
Spindle pitch and resolution can easily be set via the denominator factor. The numerator factor is mainly used to set "manifold" resolutions.
Examples:
Spindle pitch
Resolution
Numerator
factor
Denominator
factor
4 mm
1/100 mm
400
400
1 mm
1/100 mm
400
100
2 mm
1/10 mm
400
20
The numerator and denominator factor must have a value between 1 and 10000.
PSx3xxIO Instruction Manual
32
(f) Drag error
During a positioning run, the device compares the computed target position with the current actual value. If the difference is greater than the value of the "drag error" (ISDU 133), the corresponding bit is set in the status. This is particularly the case if the speed setpoint cannot be reached due to external influences (required torque, motor voltage too low).
(g) Abort run in the event of failure of the master
If the connection to the master is interrupted during a positioning, a drive that has already started cannot be cancelled by the master.
In this case, there are three possible reactions:
1) If a positioning is in progress, the drive should end this positioning as planned
and then start no new positioning, as long as there is no connection.
This behaviour is activated if ISDU 118 ("communication timeout") is at 0.
2) If a positioning is in progress, the drive should end the run and then start no new
positioning, as long as there is no connection.
This behaviour is activated if ISDU 118 ("communication timeout") is at a value
> 0. The value specifies the time in ms, within which a new master telegram must be received to maintain the link. In addition, ISDU 137 ("Configuration for connection failure") must be at 1 ("drive cancellation").
3) Regardless of whether the drive is at standstill or if a positioning is in progress, the
drive should execute the drive to the safety position, defined with ISDU 138.
This behaviour is activated if ISDU 118 ("communication timeout") is > 0 AND
ISDU 137 ("Configuration for connection failure") is 2 ("Travel to safe position").
(h) Optional: Manual drive with external keys (jog mode)
A manual run can be performed with the external keys under the following conditions:
1) with interrupted IO-Link connection:
- always
2) with existing IO-Link connection:
- if control word Bit 5 (release jog mode) is set, Bit 4 (release) is not set
Overall, the following assignment results:
Bus
connected
Control
word
Bit 4
Control
word
Bit 5
Jog keys
no X X
Active
yes X 0
inactive
yes 1 X
inactive
yes 0 1
active
Bit 5 (enable jog mode) and Bit 4 (release) cannot be set simultaneously. In the event of a change of the release (e.g. From "enable jog mode" to "release"), a drive in the other operating mode is cancelled.
Instruction Manual PSx3xxIO
33
The step width for brief key pressing can be adjusted via ISDU 135. A single step is executed when one of the external buttons is pressed. If the key is released before the single step has been completed, this is nevertheless brought to an end. If the same key remains pressed, a continual manual drive follows the single step after a brief waiting time as long as the key is pressed. This continuous manual drive is always active if the bus is not connected. If the bus is connected, Bit 3 must also be activated in the control word in addition to Bit 5 (Release manual drive in jog mode). If Bit 3 is reset, only one individual step is performed each time a key is pressed even if the same key is pressed for longer than the duration of the individual step.
The waiting time until the drive transfers to manual drive is set with ISDU 163. In manual drive, the drive moves to the respective end switch position (ISDU 129 and
130). If both keys are pressed during a jog drive, the run is immediately cancelled. A new
jog drive is only possible again if both keys have been released. For activation, the respective key contact (Pin 2 or 3 of the 4-pin connector) must be
connected with +24V (Pin 1). If the key signal is produced by a source galvanically separated from the control supply, GND (Pin 4) must be connected.
Jog drives without external jog buttons: Jog drives are also possible without external jog buttons: For this, Bit 8 (Jog to larger values) and Bit 9 (Jog to lower values) serve as the control word, the corresponding key presses simulate these. Prerequisite: Bits 4 and 5 of the control word must be reset.
(i) Devices with the "holding brake” option
The device types PSx3 0xIO-14, PSx3 1xIO-14, PSx3 2xIO, PSx3 3xIO are optionally available with a holding brake. This brake prevents rotation of the output shaft in the absence of motor power supply or if the motor holding torque is too low, up to a maximum equal to the amount of the nominal torque. A small degree of rotation always occurs at the output, i.e. the brake cannot be used to hold a defined position (for this purpose, the holding torque must be increased with ISDU 155 and ISDU
154). For drive orders, there is an initial wait for a short time for these devices for the
brakes to release (standard time 0.15 sec. before drive start, ISDU 164) and some steps are travelled against the actual drive direction (number of steps: ISDU 136). At the end of each drive, the brake is released (standard time 1 sec. after drive end, ISDU 165). The advantage of this feature is, that in case of many subsequent runs the brake has not to be released each time.
To adjust the position of the drive manually, it is first necessary to remove the rubber­plug in the top cover (see drawings at the end of these instructions). Then release the brake by pressing down and simultaneously turning using a hex wrench NW3 (PSx3 1xIO, PSx3 3xIO) or NW4 (PSx3 0xIO, PSx3 2xIO).
(j) Devices with the "Friction Brakeoption
The device type PSE34xxIO is optionally available with a friction brake. This brake prevents rotation of the output shaft in the absence of motor voltage or if the motor holding torque is too low.
PSx3xxIO Instruction Manual
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A run command is not approached immediately but only after a short idle period to tighten the brake. The brake releases at the end of every run.
To adjust the drive manually, it is first necessary to remove the corresponding rubber­plug in the top cover. Then the drive can be rotated with a hexagonal key NW4. This is relatively difficult, since in addition to any torque present, the friction brake force also needs to be overcome.
(k) Reference runs
The Positioning System PSx3xxIO is equipped with an absolute measuring system, therefore no reference run is required when the drive is switched on. If, in certain cases, a reference drive to a hard block is still desired (e.g. once in the installation of the drive onto the machine), the procedure should be as follows:
1) Before ordering the reference drive, the following settings must be applied:
- Set max. driving torque (ISDU 153) and maximum release torque (ISDU 152) to a maximum of 10% of the rated torque
- Set holding torque (ISDU 155) and max. holding torque at drive end (ISDU
154) to 0.
- Set speed limit for drive cancellation (ISDU 146) to 60.
- Set time for going under the speed limit for drive cancellation (ISDU 159) to 100 (the period of time during which the drive tries to overcome the block is reduced: With the reduced values, the positioning is cancelled if the speed below 60% of the setpoint speed for more than 100ms. Standard is 200 ms and 30%).
- Set the relevant end limit (ISDU 129 or 130) so that the block is clearly within the end limits in each case (otherwise there is the danger that the block lies within the positioning window and therefore will not be recognized.)
- If necessary, reduce the setpoint speed for manual operation (ISDU 145)
2) now start the reference run as manual drive (set Bit 0 or 1 in the control word).
3) Wait until the drive moves (Bit 6 in the status word is set)
4) Wait until the drive is standing and a positioning error has occurred (Bit 6 is reset in the status word, bit 10 is set).
5) with the same settings, perform manual drive in the opposite direction (move a piece of the block away so that the drive can move freely).
6) now only apply desired settings of the above ISDUs for normal operation.
Instruction Manual PSx3xxIO
35
6 Technical data
Ambient conditions
Ambient temperature
0 °C to +45 °C
Storage temperature
-10 °C to +70 °C
Shock resistance according to DIN IEC 68-2-27
50 g 11 ms
Resistance to vibration according to DIN IEC 68-2-6
10 Hz to 55 Hz 1.5 mm 55 Hz to 1000 Hz 10 g 10 Hz to 2000 Hz 5 g
EMC standards
CE
Conformity
CE declaration of conformity available on request
Protection class
PSE
IP 54
PSS
IP 65
PSW
IP 66 (in operation)
IP 68 (at a standstill)
Switch-on time
PSx
ED in %
Base time in
sec.
PSE34xx
PSE30xx to
33xx PSS
PSW
20 30 20 20 20
300 300 600 600 600
Electrical data
Rated output power PSx30xIO, PSx31xIO,
PSE31xxIO
25 W with 30% duty cycle
PSx32xIO, PSx33xIO
35 W with 30% duty cycle
PSE34xxIO
100 W with 20 % duty cycle
Supply voltage
24 VDC ± 10% (supply voltage for motor and control unit are galvanically isolated) advice: use regulated power supplys
Rated current control
0.1 A
Rated current engine PSx30xIO, PSx31xIO,
PSE31xxIO
2.2 A
PSx32xIO, PSx33xIO
3.0 A
PSE34xxIO
7.8 A
Positioning resolution
0.9°
Positioning accuracy
0.9°
IO-Link protocol
SDCI in accordance with IEC 61131-9 Version 1.1.2
Absolute value acquisition
optical - magnetic
PSx3xxIO Instruction Manual
36
Mechanical data
Positioning range
250 usable revolutions, no mechanical limit The measuring system includes 256 revolutions, minus 3 revolutions security reserve on both range limits
Torsional rigidity (angle of rotation when switching from operation without backlash to maxi­mum torque)
max. 0.2° Gear backlash
(without spindle compensation run )
max. 0.5°
Spindle leeway adjustment
Automatic loop drive after each positioning drive (optional)
Output shaft
PSE30xIO-8 PSE31xIO-8
8H9 Hollow shaft with
adjustable collar
PSE30xIO-14, PSE31xIO14, PSE32xIO, PSE33xIO
14H7 Hollow shaft with
adjustable collar
PSE31xxIO-14 PSE34xxIO
14H7 Hollow shaft with
clamp and feather key
PSS3xxIO-8 PSW3xxIO-8
8H9 Hollow shaft with adj.
collar or
8H8 solid shaft
PSS3xxIO-14 PSW3xxIO-14
14H7 Hollow shaft with
adj. collar or
14H8 solid shaft
Recommended spindle stud diameter
according to the hollow shaft diameter with an interference fit of H9
Max. permissible radial force
40 N
Max. permissible axial force
20 N
Dimensions (L x W x H)
See product catalogue online
Weight (approx.)
PSx30xIO-8
650 g
PSx30xIO-14, PSx32xIO
1200 g
PSx31xIO-8
700 g
PSx31xIO-14, PSx33xIO
700 g
PSE31xxIO
1200 g
PSE34xxIO
1900 g
For additional, please visit our website at
https://www.halstrup-walcher.de/en/products/positioning-systems/pse-pss-psw-3-series/in­dex.php
7100.005374B_PSx3xxIO.docx 10/2017 Ka/Ed
Instruction Manual PSx3xxIO
37
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