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
D-79199 Kirchzarten
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 LED’s................................................................................................... 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.
PSx3xxIO Instruction Manual
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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 requirements—particularly 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:
Instruction Manual PSx3xxIO
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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.
PSx3xxIO Instruction Manual
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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. ‘xx’ in 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. -
Instruction Manual PSx3xxIO
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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 LED’s
The following LED’s 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 "ERROR” is 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).
Instruction Manual PSx3xxIO
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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
PSx3xxIO Instruction Manual
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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.
0…1
8 bit
no 0 R/W
Instruction Manual PSx3xxIO
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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
PSx3xxIO Instruction Manual
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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.
0…1
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.
0…1
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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