Instruction Manual PSx3xxMod Document 7100.004574 02/2017
Instruction Manual
PSx3xxMod
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten
Tel.: +49 (0) 76 61/39 63-0
Fax: +49 (0) 76 61/39 63-99
E-Mail: info@halstrup-walcher.com
Internet: www.halstrup-walcher.com
Instruction Manual PSx3xxMod
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Table of 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 .................................................................................................................................. 5
2 Device description .................................................................................................................... 5
2.1 Features .................................................................................................................................. 5
2.2 Installation ............................................................................................................................... 5
2.3 Pin assignment ........................................................................................................................ 6
2.4 Setting the device address and baud rate ................................................................................ 7
2.5 LEDs ....................................................................................................................................... 8
2.6 Start-up ................................................................................................................................... 8
2.7 Modbus ................................................................................................................................... 9
3 Sequence of positioning ......................................................................................................... 23
4 Specials ................................................................................................................................. 23
5 Technical Data ....................................................................................................................... 30
Instruction Manual PSx3xxMod
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Purpose of instruction manual
This instruction manual describes the features of the PSx3xxMod positioning system
and provides guidelines for its use.
Improper use of these devices or failure to follow these instructions may cause injury
or equipment damage. Every person who uses the devices must therefore read the
manual and understand the possible risks. 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 is state of the art. It complies with the legal requirements of EC
directives. This is shown by the CE mark.
© 2012, 2015, 2016
The manufacturer owns the copyright to this instruction manual. It contains technical
data, instructions and drawings detailing the devices’ features and how to use them. It
must not be copied either wholly or in part or made available to third parties.
Instruction Manual PSx3xxMod
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1 Safety precautions
1.1 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.
PSx3xxMod 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
Assembly and the electrical connections should only be handled by professionals.
They should be given proper training and be authorised by the operator of the facility.
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.
Only the manufacturer may perform repairs that require the housing to be opened.
The electronic components of the device contain environmentally hazardous materi-
als and materials that can be reused. The device must therefore be sent to a recycling plant when you no longer wish to use it. The environment codes of your particular country must be complied with.
Instruction Manual PSx3xxMod
5
1.4 Symbols
The symbols given below are used throughout this manual to indicate instances when
improper operation could result in the following hazards:
WARNING! This warns you of a potential hazard that could lead to bodily injury up
to and including death if the corresponding instructions are not followed.
CAUTION! 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 Features
The PSx3xxMod 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 Modbus 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.
PSx3xxMod positioning systems convert a digital positioning signal into an angle of
rotation.
2.2 Installation
Hollow shaft:
The PSx3xxMod 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 8 H9 or 14 H9; 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.
Solid shaft:
The PSx3xxMod is mounted on the machine by fixing the solid shaft with coupling
and intermediate flange to the axis of the machine.
Instruction Manual PSx3xxMod
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Never apply force to the housing cover, e.g., for supporting weight.
Driving the PSx3xxMod rearward is prohibited (e.g. it’s not allowed to
turn the output shaft by an external force).
2.3 Pin assignment
For the supply voltage either a Binder series 713/763 (A-coded) round, 5-pin plug for
PSE and PSS devices or a 5-pin Harting plug with protective sleeve (HAN4A) for the
PSE34xx devices is located in the housing cover of the PSx3xxMod.
A series 715 (B coded) 5-pin round socket and an optional 5-pin (B encoded) plug are
provided for connecting the Modbus.
A Binder series 718 4-pin plug is used to connect the jog keys (optional).
Supply voltage connector:
Connector for jog keys
round plug
Harting plug (external top view)
(external top view)
1 +24V motor
2 GND (motor)
3 +24V control unit
4 GND (control unit)
5 housing/pressure balance
1 +24V (output)
2 forward key
3 reverse key
4 ground
To prevent the ingression of fluids into the PSW-housing during
cooldown, use a special cable with an airtube for pressure
balancing of your PSW.
Instruction Manual PSx3xxMod
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Round plug for 2W-Modbus: Round socket for 2W-Modbus:
(external top view) (external top view)
1 VP +5V (for external termination circuit)
2 D0 (resp. A/A’ resp. TXD0/RXD0 resp. TxD/RxD-N)
3 Common (resp. C/C’, reference potential to VP, for external termination circuit)
4 D1 (resp. B/B’ resp. TXD1/RXD1 resp. TxD/RxD-P)
5 shield
2.4 Setting the device address and baud rate
Removing the protective cap provides access to two rotary switches for setting the
device address at the bus and a 2-pin sliding switch for setting the baud rate.
The rotary switches indicate the tens and ones places of the address selected. If the
switches are resting in the position 00 the address can be changed via the Modbus
with HR 38.
The delivery setting is 00, the PSx3xxMod reports to the bus with the address 1.
If the switches have been used to set the address (i.e. the switch setting is > 00), this
value cannot be changed via the Modbus.
If the Modbus master uses the broadcast address (= 0), each PSx3xxMod on the bus
will be addressed, regardless of the actual valid address in the device. However, no
answer is being sent by the PSx3xxMod on broadcast messages.
Switch configurations:
PSx30xMod, PSx31xMod-8,
PSx32xMod-14, PSE31xxMod-14
PSx31x-14, PSx33x-14
Setting the baud rate:
1
2
Baud rate
OFF
OFF
baud rate is set via bus (default = 19200 bps)
OFF
ON
9600 bps
ON
OFF
19200 bps
ON
ON
57600 bps
Instruction Manual PSx3xxMod
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If the device names are given without the diameter of the output shaft (8,
14), the relevant information is valid for all offered output shafts (applies
throughout the document).
‘x’ in the device name stands for a number in the range 0..9. ‘xx’ in the
device name stands for a number in the range 10..999.
Important: Always reinsert the protective cap after setting the
address. This will prevent dust and contaminants from entering the
device.
2.5 LEDs
The green LED represents the state of the motor supply voltage, the red and yellow
LED represent the Modbus and the device state.
Yellow LED
Switched ON during frame reception or sending.
Red LED
Switched ON: internal fault
Flashing: Other faults
Green LED
Switched ON: device powered (motor supply)
2.6 Start-up
Positioning sequence (with loop)
The PSx3xxMod differs between the following steps of a positioning sequence
(Presumption: the target position is always approached through forward motion):
1. New position value is larger than the current value: position approached directly.
2. New position value is smaller than the current value: the device reverses 5/8 of
one rotation and approaches the exact position after resuming forward motion.
3. New position value after reverse run without loop: the device always approaches
the position by moving in forward direction; if necessary, it will first reverse by 5/8
of a rotation.
Once the target position has been reached, the device compares it to the internal
absolute encoder status. If a discrepancy is detected, the device then sets the “error”
bit (bit 9 in the status word).
Positioning sequence (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.
Instruction Manual PSx3xxMod
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Runs which involve specifically a block run (e.g. reference runs on block),
may only be started with reduced torque (max. torque max. 10% of the
nominal torque).
Underwater usage of the PSW is not allowd.
2.7 Modbus
The Modbus transmission mode “RTU” is used as the protocol at the Modbus
EIA/TIA-485 interface. The transmission mode “ASCII” is not supported.
The default baudrate is 19200 bps. The supported setting for the serial port is 8-N-2
(8 data bits, no parity, 2 stop bits).
There are up to 32 devices allowed without a repeater.
Implemented function codes:
Function
code (hex)
Sub
code (hex)
Description
0x03
Read holding register
For reading the holding register HR0-HR127
0x06
Write single register
For writing a 16 bit holding register
0x10
Write multiple register
For writing a 32 bit holding register (HR48-49, HR52-53, …) and
for writing the control word + target value (HR32-34) at once.
0x2B
0x0E
Read device identification
Object id
0x00: VendorName
0x01: ProductCode
0x02: MajorMinorRevision
0x03: VendorUrl
0x80: production date, year and week of manufacturing (YYWW)
0x81: serial number
Response is given as ASCII String
There are several combined registers: Two 16-bit holding registers are combined to a
32-bit value. In order to write these 32-bit values, always first write to the high word,
after that to the low word. After a write access to the low word, the internal 32-bit
value will be changed. Between these two write accesses no other write access to
another register may be requested, otherwise the write access to the low word will be
rejected and answered with an exception code.
Instruction Manual PSx3xxMod
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Here’s a list of the implemented result codes:
Function
code (dez)
Description
00
idle (execution succeeded)
01
illegal function code
02
illegal data address
03
illegal data value
04
slave device failure (execution failed)
11
Frame-Error
A write request to a reserved register will always return “idle”. It is recommended to
write the value 0. Reading a reserved register returs the value 0. Read or Write
accesses to addresses ≥ 256 are rejected with an exception code
Table of all Holding Registers:
Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Status requests
0
status word
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
16 bit
unsigned
R
1
actual rpm
value in rpm
16 bit
signed
R 2 actual value High
(Byte 3-2)
current actual position
value in 1/100 mm (for default
settings of numerator HR 45 and
denominator HR 46)
Writing onto this register causes
the current position to be
“referenced” onto the transferred
value
32 bit
signed
no R/W
3
actual value Low
(Byte 1-0)
4
actual torque
value in cNm
16 bit
unsigned
R
Instruction Manual PSx3xxMod
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Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Status requests (continued)
5
maximum torque
maximum torque occurring during
the most recent run (start phase,
during which the maximum startup torque applies, see HR 76/84,
and the phase when the drive is
braking down, are not considered)
value in cNm
16 bit
unsigned
R
6
U control
current supply voltage for control
unit given in increments of 0.1 V
16 bit
unsigned
R
7
U motor
current supply voltage for motor
given in increments of 0.1 V
16 bit
unsigned
R 8 device
temperature
internal device temperature in °C
16 bit
signed
R
9-11
reserved
16 bit
R
12
production date
year and week of manufacturing
(given as an integer)
16 bit
unsigned
YYWW
R
13
serial number
serial device number
16 bit
unsigned
R
14
device model
device model within the PSx series
(5-digit numbers show the
diameter of the output shaft in their
last 2 places)
16 bit
unsigned
R
15
version
software version number
16 bit
unsigned
R
16-31
reserved
-
16 bit
R
Run commands
32
control word
Bit 0: manual run to larger values
Bit 1: manual run to smaller values
Bit 2: reserved
Bit 3: release for manual run in jog
key mode: if this bit is not set, only
single steps are possible in jog key
mode
Bit 4: release: the axle will only run
if this bit is set (exception is the jog
key mode with the external keys or
with bits 8/9)
Bit 5: release for jog key mode
with the external keys: If the bus is
active, the external keys are only
active if this bit is set
Bit 6: run without loop
Bit 7: start initial reference loop
Bit 10: release readjustment
Bit 11: execute braking-free-run
Bit 12: run with drag error
correction
All other bits must be set to 0!
16 bit
unsigned
no 0 R/W
Instruction Manual PSx3xxMod
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Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Run commands (continued)
33
target value Hi
(Byte 3-2)
target position to be achieved
value in 1/100 mm (for default
settings of numerator HR 45 and
denominator HR 46)
32 bit
signed
no 0 R/W
34
target value Lo
(Byte 1-0)
35-37
reserved
-
16 bit
no 0 R/W
Bus settings (continued)
38
slave address
address of drive (if set by Modbus)
This value cannot be changed if
the address switches are used (i.e.
the switch setting is > 00). Save
the parameters (set HR 116 to 1)
and restart the device for changes
to take effect.
16 bit
unsigned
1…247
yes 1 R/W
39
baud rate
0: 1200 bps, 1: 2400 bps, 2: 4800
bps, 3: 9600 bps, 4 :19200 bps, 5:
38400 bps, 6: 57600 bps, 7: 76800
bps, 8: 115200 bps
This value cannot be changed if
the baud rate switch is used (i.e.
the switch setting is not OFFOFF).
Save the parameters (set HR 116
to 1) and restart the device for
changes to take effect.
16 bit
unsigned
0…8
yes 4 R/W
40
communication
timeout
value in msec
If the value is 0, the timeout
detection is deactivated. A value >
0 sets the time within the master
must send a new and valid request
to keep the connection alive. A
timout in the device will result in
aborting the run.
16 bit
unsigned
0…10000
yes 0 R/W
41-43
reserved
-
16 bit
no 0 R/W
Position settings
44
direction of
rotation
0: clockwise
1: counter clockwise
(if looking at the output shaft)
16 bit
unsigned
0…1
yes 0 R/W
45
actual value
assessment,
numerator
These values can be used to set a
desired user resolution to the
drive.
For a numerator factor of 400, the
denominator factor holds the
spindle pitch per resolution
e.g.: spindle pitch 1.5 mm with
resolution 1/100 mm:
numerator = 400, denominator =
150
16 bit
unsigned
1…10000
yes
400
R/W
46
actual value
assessment,
denominator
16 bit
unsigned
1…10000
yes
400
R/W
Instruction Manual PSx3xxMod
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Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Position settings (continued)
47
change
referencing value
When set to 1, a subsequent write
access to the referencing value
within a “write multiple” request will
be executed. This refers only, if
within this “write multiple” request
more registers are accessed than
the referencing value registers.
If only one or both of the
referencing value registers are
being accessed within a write
request, the write request will be
executed.
16 bit
unsigned
0…1
no 0 R/W
48
referencing value
High
(Byte 3-2)
correction factor for the target,
actual and limit switch values
32 bit
signed
yes 0 R/W
49
referencing value
Low
(Byte 1-0)
correction factor for the target,
actual and limit switch values
50
upper mapping
end High
(Byte 3-2)
definition of the positioning range
relative to the absolute measuring
system
permissible values:
(1 + ref.value) … (204800 *
denominator / numerator - 1 +
ref.value)
32 bit
signed
yes
102400
R/W
51
upper mapping
end Low
(Byte 1-0)
52
upper limit High
(Byte 3-2)
maximum permitted target position
permissible values: (upper
mapping end - 1200..101200 *
denominator / numerator)
32 bit
signed
yes
101200
R/W
53
upper limit Low
(Byte 1-0)
54
lower limit High
(Byte 3-2)
minimum permitted target position
permissible values: (upper
mapping end - 1200..101200 *
denominator / numerator)
32 bit
signed
yes
1200
R/W
55
lower limit Low
(Byte 1-0)
56
positioning
window
permissible difference between
target and actual values for
“position reached” bit
The maximum value that can be
set changes according to the same
factor as the resolution
16 bit
unsigned
1…100
yes 2 R/W
57
length of loop
High
(Byte 3-2)
minimum number of increments
which the drive moves in a
predefined direction when
approaching a target position
value in increments (value = 0
no loop)
32 bit
unsigned
0.025…1
rotations
or 0
yes
250
R/W
58
length of loop
Low
(Byte 1-0)
59
drag error
maximum drag error before the
‘drag error’ bit is set.
Value given in increments (at a
resolution of 0.5 mm)
16 bit
unsigned
20…1000
yes
40
R/W
Instruction Manual PSx3xxMod
14
Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Position settings (continued)
60
running direction
for approaching
target position
0: with forward rotation
1: with reverse rotation
(5/8 rotation is the default value,
see HR 57/58)
16 bit
unsigned
0…1
yes 0 R/W
61
size of individual
increment
number of increments when
external keys pressed for a shorttime
16 bit
unsigned
1…100
yes 1 R/W
62
number of
braking-free
steps
number of steps for the brakingfree-run
16 bit
unsigned
1…50
yes
*)
R/W
63-65
reserved
-
16 bit
no 0 R/W
Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Velocity settings
66
target rpm
posi
value in rpm
maximum rpm to be used for
positioning runs
16 bit
unsigned
*)
yes
*)
R/W
67
target rpm,
counterclockwise
value in rpm
maximum rpm to be used for
positioning runs counter-clockwise
16 bit
unsigned
*)
yes
*)
R/W
68
target rpm,
clockwise
value in rpm
maximum rpm to be used for
positioning runs clockwise
16 bit
unsigned
*)
yes
*)
R/W
69
target rpm
hand
value in rpm
maximum rpm to be used for
manual runs
16 bit
unsigned
*)
yes
*)
R/W
70
rpm limit for
aborting run
value in % of the target rpm
16 bit
unsigned
30 .. 90
yes
60
(PSE3110 and
PSE3125)
30
(all others)
R/W
71
acceleration
value in rpm per sec.
16 bit
unsigned
*)
yes
*)
R/W
72
deceleration
value in rpm per sec.
16 bit
unsigned
*)
yes
*)
R/W
73-75
reserved
-
16 bit
no 0 R/W
*) Values depend on device type (see following table).
Instruction Manual PSx3xxMod
15
Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Torque settings
76
maximum startup torque
value in cNm
16 bit
unsigned
*)
yes
*)
R/W
77
maximum torque
value in cNm
Applies after completion of start
phase (during start phase the
value HR 76 applies)
16 bit
unsigned
*)
yes
*)
R/W
78
maximum holding
torque at end of
run
value in cNm
16 bit
unsigned
*)
yes
*)
R/W
79
maximum holding
torque
value in cNm
maximum holding torque at
standstill after completion of
“holding torque at end of run”
16 bit
unsigned
*)
yes
*)
R/W
80-82
reserved
-
16 bit
no 0 R/W
Time settings
83
time elapsed until
speed falls below
rpm limit for
aborting run
value in msec
(see HR 70)
16 bit
unsigned
50…500
yes
200
R/W
84
time period for
start-up torque
value in msec
(see HR 76)
16 bit
unsigned
10…1000
yes
200
R/W
85
duration of
maximum holding
torque at end of
run
value in msec
time period at end of run, in which
the ‘maximum holding torque at
end of run’ applies
(see HR 78)
16 bit
unsigned
0…1000
yes
200
R/W
86
idle period for
direction change
value in msec
idle period when reversing the
direction of rotation
16 bit
unsigned
10…
10000
yes
10
R/W
87
idle period for
manual run
Span of time a manual run key
must be pressed (or a jog run bit
must be activated) in order to
begin a manual run
value in steps of 5 msec
16 bit
unsigned
20 .. 2000
yes
200
R/W
88
waiting time for
brake (begin of
run)
time period before the begin of
run, in which the brake can be
released without the motor is
moving (value in msec)
16 bit
unsigned
0 .. 2000
yes
150
R/W
89
waiting time for
brake (end of
run)
time period after the end of run, in
which the brake stays released
(value in msec)
16 bit
unsigned
0 .. 3000
yes
1000
R/W
90
Umot filter
average time for measuring
current power to motor; given in 5
msec increments
16 bit
unsigned
100 ..
1000
yes
100
R/W
91-93
reserved
-
16 bit
no 0 R/W
*) Values depend on device type (see following table).
Instruction Manual PSx3xxMod
16
Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Other settings
94103
general purpuse
10 general purpuse registers
16 bit
unsigned
yes 0 R/W
104
Umot limit
voltage limit for bit ‘motor power
present’
given in increments of 0.1 V
16 bit
unsigned
180 .. 240
yes
185
R/W
105
temperature limit
upper temperature limit in °C
16 bit
unsigned
10...70
yes
70
R/W
106115
reserved
-
16 bit
no 0 R/W
116
delivery state
reading directly after boot:
(value) = 0
content of memory correct
(value) > 0
content of memory incorrect
reading after saving:
(value) = 0
saving finished successfully
(value) AND (0xFC00) > 0
saving is still in progress (the
time for saving is up to 2000 msec)
(value) AND (0xFC00) = 0
AND
(value) AND (0x03FF) > 0
saving is finished incorrectly
writing ‘-2’:
generates the delivery state (sets
the device address to 1, baud rate
19200 bps, starts initial reference
loop, then positioning to the middle
of the measurement range)
A different device address or baud
rate is only active after a device
reset!
writing ‘-1’:
generates the delivery state
without modifying the device
address and the baud rate (starts
initial reference loop, then
positioning to the middle of the
measurement range)
writing ‘0’:
no action
writing ‘1’:
saves all parameters in the
EEPROM
A different device address or baud
rate is only active after a device
reset!
16 bit
signed
-2…3
no 0 R/W
Instruction Manual PSx3xxMod
17
Reg.
Nr.
Name
Function
Type/
Range
Back
up
Delivery
State
R/W
Other settings (continued)
116
delivery state
writing ‘2’:
generates the delivery state (sets
the device address to 1, baud rate
19200 bps, no movement)
writing ‘3’:
generates the delivery state without
modifying the device address and the
baud rate (no movement)
16 bit
signed
-2…3
no 0 R/W
117
device reset
reading: always 0
writing ‘0’: no action
writing ‘1’: resets the device
16 bit
unsigned
0…1
no 0 R/W
118127
reserved
-
16 bit
no 0 R/W
Table of rated speed and torque values for various models of gears
device model
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
Name
Reg
value range
delivery state
target rpm posi
HR 66
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5...45
45
target rpm hand
HR 69
15...230
80
10...150
50
3...70
20
20...200
80
10...100
40
5...45
22
maximum rpm,
counterclockwise
HR 67
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5...45
45
maximum rpm,
clockwise
HR 68
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5...45
45
acceleration
HR 71
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22...100
100
deceleration
HR 72
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22...100
100
maximum torque
HR 77
2...100
100
10...200
200
50...500
500
10...200
200
20...400
400
80...800
800
maximum start-up
torque
HR 76
2...125
125
10...250
250
50...600
600
10...250
250
20...500
500
80...960
960
maximum holding
torque
HR 79
0...90
30
0...150
50
0...300
100
0...100
35
0...200
70
0...450
150
maximum holding
torque at end of
run
HR 78
0...180
60
0...300
100
0...600
200
0...200
70
0...400
140
0...900
300
number of brakingfree steps
HR 62
1...50
4
1...50
4
1...50
3
1...50
4
1...50
4
1...50
3
Instruction Manual PSx3xxMod
18
device model PSW
301-x
311-x
302-x
312-x
305-x
315-8
322-14
332-14
325-14
335-14
328-14
Name
Reg
value range
delivery state
target rpm posi
HR 66
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5...35
35
target rpm hand
HR 69
15...180
80
10...125
50
3...60
20
20...150
80
10...80
40
5...35
22
maximum rpm,
counterclockwise
HR 67
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5...35
35
maximum rpm,
clockwise
HR 68
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5...35
35
acceleration
HR 71
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22...100
100
deceleration
HR 72
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22...100
100
maximum torque
HR 77
2...100
100
10...200
200
50...500
500
10...200
200
20...400
400
80...800
800
maximum start-up
torque
HR 76
2...125
125
10...250
250
50...600
600
10...250
250
20...500
500
80...960
960
maximum holding
torque
HR 79
0...90
30
0...150
50
0...300
100
0...100
35
0...200
70
0...450
150
maximum holding
torque at end of run
HR 78
0...180
60
0...300
100
0...600
200
0...200
70
0...400
140
0...900
300
number of brakingfree steps
HR 62
1...50
4
1...50
4
1...50
3
1...50
4
1...50
4
1...50
3
device model PSE
3110-14
3125-14
3410-14
3418-14
Name
Reg
value range
delivery state
target rpm posi
HR 66
1…30
30
1…12
12
10...100
100
5...90
90
target rpm hand
HR 69
1…30
12
1…12
5
10...100
40
5...90
30
maximum rpm,
counterclockwise
HR 67
1…30
30
1…12
12
10...100
100
5...90
90
maximum rpm,
clockwise
HR 68
1…30
30
1…12
12
10...100
100
5...90
90
acceleration
HR 71
9…50
50
4…20
20
20...350
350
10...315
315
deceleration
HR 72
9…50
50
4…20
20
20...350
350
10...315
315
maximum torque
HR 77
100…1000
1000
250…2500
2500
100...1000
1000
100...1800
1800
maximum start-up
torque
HR 76
100…1200
1200
250…3000
3000
100...1200
1200
100...2000
2000
maximum holding
torque
HR 79
0…600
200
0…1250
450
0...300
200
0...450
300
maximum holding
torque at end of run
HR 78
0…1200
400
0…2500
900
0...600
400
0...900
600
number of brakingfree steps
HR 62
1...50
3
1...50
3
1...50
4
1...50
4
Instruction Manual PSx3xxMod
19
Detailed description of status bits
Bit 0: target position reached
This bit is set:
- when a transferred target position has been reached successfully
- after running an initial reference loop, when the actual value corresponds to
the previously transferred target value
This bit is reset:
- after transferring a target position if the difference from the actual value is
larger than the positioning window (HR 56)
- by a manual run
- if an invalid target value has been transferred
- if rotated manually when on standstill
Bit 1: drag error
This bit is set:
- if, after the acceleration phase, the maximum speed setting has not been
achieved
This bit is reset:
- with each new run command
Bit 2: reverse jog key active
This bit is set:
- if Pin 3 on the key connector is connected with Pin 1 (+24V)
This bit is reset:
- if Pin 3 on the key connector is disconnected from Pin 1 (+24V)
Bit 3: forward jog key active
This bit is set:
- if Pin 2 on the key connector is connected with Pin 1 (+24V)
This bit is reset:
- if Pin 2 on the key connector is disconnected from Pin 1 (+24V)
Bit 4: motor power present
This bit is set:
- if the supply voltage to the motor is above the Umot limit (HR 104) and below
30V
This bit is reset:
- if the supply voltage to the motor is below the Umot limit or above 30V
Bit 5: positioning run aborted
This bit is set:
- if a positioning run is aborted because release in the control word has been
withdrawn
This bit is reset:
- when a new run command is transmitted
Bit 6: drive is running
This bit is set:
- when the drive is rotating
This bit is reset:
- when the drive is on standstill
Instruction Manual PSx3xxMod
20
Bit 7: temperature exceeded
This bit is set:
- if the internal device temperature device exceeds the limit value (HR 105)
This bit is reset:
- if the internal device temperature falls below the limit value by 5°C
Bit 8: movement opposite loop direction
This bit is set:
- during a manual run in the direction opposite that of the loop direction (a
subsequent manual run in the loop direction will not reset this bit)
- during a positioning sequence in the direction opposite that of the loop
direction
This bit is reset:
- when a transferred target position has been reached successfully (in the loop
direction)
- after the initial reference loop
Bit 9: error
This bit is set:
- if an internal problem is detected when calculating a position
No run commands (except the initial reference loop) can be executed when
the error bit is set!
This bit is reset:
- when an initial reference loop is completed correctly
Bit 10: positioning error (block)
This bit is set:
- if a positioning run is aborted because the device is overloaded (block,
extreme difficulty while running)
This bit is reset:
- by transmitting a new positioning command
- after an initial reference loop has been executed correctly
Bit 11: manual displacement
This bit is set:
- if, while on standstill, the drive is turned externally by more than the value in
the positioning window
This bit is reset:
- by transmitting a new positioning command
- after an initial reference loop has been executed correctly
Bit 12: incorrect target value
This bit is set:
- when a transferred target value lies outside of the limit switches; also
caused, for instance, because of the actual value of the reference value (HR
48/49)
- when a transferred target value lies inside of the limit switches; but because
of a necessary loop run the specified interval would be left
This bit is reset:
- by transmitting a valid target value
Instruction Manual PSx3xxMod
21
Bit 13: motor power was missing
This bit is set:
- if the power to the motor is less than the Umot limit (HR 104) or above 30V
when initiating a positioning run or an initial reference loop
- if during the run the voltage leaves the given corridor
This bit is reset:
- if the power to the motor is above the Umot limit and below 30V when
initiating a positioning run or an initial reference loop
Bit 14 / 15: positive / negative range limit
This bit is set:
- if the limit value is reached during a manual run (but not if reached during a
positioning run)
- if a limit value is modified such that the current position lies beyond the limit
- if, while on standstill, by means of an external force the drive is moved to a
position which is outside the area which is defined by the range limits
This bit is reset:
- by initiating a positioning run, an initial reference loop or a manual run
d) Detailed description of control bits
Bit 0: manual run to larger values
Bit 1: manual run to smaller values
Bit 2: reserved, must be programmed to 0
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 will only be executed if this bit is set (exception is
the jog key mode with the external keys or with bits 8/9 of the control word).
This bit must be set for positioning runs, manual runs and must not be set for
jog runs.
If this bit is cleared during a run, the run will be aborted and status bit 5 will be
set (‘positioning run aborted’).
Bit 5: Release for jog key mode with the external keys: If the bus is active, jog key
mode via the external keys is only possible if this bit is set and bit 4 is reset.
For jog key mode via the bus (bits 8 or 9 in the control word), this bit must not
be set.
Bit 6: Run without loop: If this bit is set during positioning runs, all target positions
will be approached directly (without loop)
Bit 7: Start initial reference loop: the device performs 5/8 of one rotation opposite to
the loop direction; it will then perform 5/8 of a rotation in loop direction at
manual run speed.
In earlier versions, this command had to be executed after switching on the
device; that is no longer the case.
Instruction Manual PSx3xxMod
22
Bit 8: reserved, must be programmed to 0
Bit 9: reserved, must be programmed to 0
Bit 10: Release readjustment: Only if this bit is set the drive readjusts when it is
displaced out of its position in the direction opposite to that of the loop
direction at the end of a run. If bit 6 („run without loop“) is being set, the drive
readjusts the position in both directions.
Bit 11: Execute braking-free-run: At the beginning of a positioning at first the brake is
released and the “waiting time for brake” is being awaited (HR 88). Within this
time the brake should move towards its working position (in this position of the
brake the motor can move freely). After this waiting time the motor moves a
certain distance in both directions, in order to release a brake which is
eventually stucked. This distance (“number of braking-free steps”) is being set
in HR 62. For the execution of this command, bit 4 has to be set
simultaniously
Bit 12: Run with drag error correction: If the bit is set, the drive trys (under
consideration of the configured maximum torque) to compensate a drag error
which has been developped. By controling the rpm on a value which is slightly
above or below the configured ‘target rpm posi’ (HR 66), the drag error
decreases. The drag error correction operates only in positioning runs, i.e. not
in manual runs or in jog key mode. Furthermore it operates only while
accelerating and cruising with constant rpm, not while decelerating. The timedependent setting value for the rpm while accelerating arises out of the rpm at
beginning of the positioning as well as the acceleration setting (HR 71).
Bit 13: reserved, must be programmed to 0
Bit 14: reserved, must be programmed to 0
Bit 15: reserved, must be programmed to 0
Instruction Manual PSx3xxMod
23
3 Sequence of positioning
a) Positioning run
- Transfer target value (control word HR 32 = 0x0010h and target value HR 33/34):
drive begins run
- Abort run by resetting the release bit (control word HR 32 = 0x0000h).
- If a new target value is transferred during a positioning run, the device will
immediately proceed to the new target. There will be no interruption if the direction of
rotation does not need to be altered.
- If a manual run is transmitted during a positioning run, the positioning run will be
aborted (speed will be reduced to that of a manual run) and the device proceeds with
the manual run.
The following sequence of steps is also possible:
Starting situation:
- release has not been set
- Target value has already been transferred
Set release (bit 4 in the control word HR 32): drive begins run
b) Positioning run without loop
The sequence corresponds to that of a positioning run with loop; in addition to setting
the release, however, bit 6 in the control word also has to be set to execute the run
without loop.
c) Manual run
- start manual run (control word HR 32 = 0x0011h resp. 0x0012h): device begins to run
- End manual run by clearing the manual run command (control word HR 32 =
0x0000h).
- Transferring a target value during a manual run will end the manual run and the
device will immediately move on to the transmitted position.
4 Specials
a) Speed, acceleration and deceleration
The initial reference loop and the manual run are performed at the maximum speed
specified in HR 69; positioning runs are performed at the maximum speed specified in
HR 66. When the run is counterclockwise, additionally the maximum speed in HR 67
applies, when the run is clockwise, the one in HR 68 applies. For all runs the
maximum acceleration in HR 71 and the maximum deceleration in HR 72 apply. At
the end of each run the maximum deceleration decreases during the approach to the
destination successively in order to realize a harmonic transient behaviour.
Instruction Manual PSx3xxMod
24
b) Response of drive in case of block or manual displacement
If during a run due to load the speed falls below the threshold parameter of 30% (HR
70) of the selected maximum speed for longer than 200 msec (HR 83), the device
detects blocking, aborts the run and sets the ‘positioning error’ bit (here the default
values are given).
New run commands can then be transmitted with no further steps to take. An
exception is, if the run should go to the same target than before. In this case,
deassert the release (bit 4 of the control word) and assert it again, then transfer the
target position one more time.
If the PSx3xxMod is displaced by external force during standstill opposite to the loop
direction and the release bit (bit 4) as well as the release readjustment bit (bit 10) in
the control word are being set, the device will attempt to reach the previously
transmitted target value once again (readjustment). The device does not attempt to
readjust if rotated in the loop direction; it merely sets the ‘manual rotation’ bit. If bit 6
(„run without loop“) is being set, the drive readjusts the position in both directions.
Deasserting the release and/or the release readjustment bit can completely stop the
readjustment process.
If at standstill the drive continuously looses its position, the attempt to
readjust starts exactly when the actual position is leaving the positioning
window (assumed that all the conditions above are being fulfilled). If the
motor power is missing at the time when this transition happens, the
readjustment fails and bits10 (‘positioning error’) and 13 (‘motor power was
missing’) will become active. If later the motor power comes back again,
there will be no further attempt to readjust. This is to prevent a situation
that suddenly a drive begins to run if motor power is being switched on.
c) Calculating the absolute physical position
The PSx3xxMod actuator includes an absolute measuring system with measurement
range of 250 rotations. This allows the user to determine the direction of rotation for
any desired portion of these 250 rotations.
The mapping of the desired positioning range to the physical positioning range is
done with the help of the parameter ‘upper mapping end’ (HR 50/51).
In the delivery state, the drive is at position 51200, the upper limit switch is set to
101200 and the lower limit switch is set to 1200, yielding a positioning range of ±125
rotations (±50000 increments). So if the desired positioning range doesn’t exceed
±125 rotations, in delivery state none of the following actions to adjust the positioning
range have to be taken.
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.
Instruction Manual PSx3xxMod
25
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 HR 50/51. HR 50/51 defines the upper end of the
positioning range. By default, the upper end is at +256 rotations (position 102400).
If the positioning range doesn’t suit to the actual displayed position after mounting
the drive, the upper end of the positioning range can be adjusted between -256
rotations and +512 rotations.
Examples:
a) After mounting the drive, the displayed position is 51200 (which corresponds
the delivery state). But the positioning range shall solely spread to the right
(resp. top) Set HR 50/51 to 152400.
b) After mounting the drive, the displayed position is 100000. But the positioning
range shall solely spread to the right (resp. top) Set HR 50/51 to 201200.
c) After mounting the drive, the displayed position is 2000. But the positioning
range shall solely spread to the left (resp. bottom) Set HR 50/51 to 3200.
Remarks:
1) When calculating the upper mapping end (HR 50/51), a security reserve of 3
rotations has to be kept in mind (1200 increments by default, see the examples
above), because the highest possible position value is 3 rotations below the upper
mapping end. The lowest possible position value is 253 rotations below the upper
mapping end.
2) The above given increment and position values relate to the following settings,
which correspond to the delivery state:
a) referencing value (HR 48/49) = 0
b) actual value assessment, numerator (HR 45) = 400
c) actual value assessment, denominator (HR 46) = 400
These 3 holding register have an influence on the above given increment and
position values: With the help of the referencing value a shift can be reached, with
the help of the actual value assessment numerator and denominator a stretching
or distension can be reached (see below).
3) When changing the direction of rotation (HR 44), the referencing value (HR 48/49),
the upper mapping end (HR 50/51) and the upper and lower limit (HR 52/53 and
HR 54/55) are set to delivery state.
4) When changing the upper mapping end (HR 50/51), the upper and lower limit (HR
52/53 and HR 54/55) are set to delivery state.
5) When changing the actual value assessment numerator or denominator (HR 45 or
HR 46), the target value, the actual value, the referencing value, the upper
mapping end, the upper and lower limit, the positioning window and the length of
loop are recalculated.
6) When changing the referencing value (HR 48/49), the target value, the actual
value, the upper mapping end and the upper and lower limit are recalculated.
7) If the user wants to go over any automatic re-calculation of values when setting up
the device, the optimum order of transfering the parameter is the following:
a) direction of rotation (HR 44),
actual value assessment, numerator (HR 45),
actual value assessment, denominator (HR 46)
b) referencing value (HR 48/49)
c) upper mapping end (HR 50/51)
Instruction Manual PSx3xxMod
26
d) upper limit (HR 52/53),
lower limit (HR 54/55),
positioning window (HR 56),
length of loop (HR 57/58)
8) In order to save the settings permanently in the EEPROM, write 1 to HR 116. As
soon as reading of HR 116 shows 0, the saving is finished.
Referencing value (HR 48/49):
The referencing process affects all transferred values, i.e., the target value, actual
value, upper mapping end and upper and lower limit.
There are two ways of setting the referencing value:
1) Directly, by writing the referencing value to HR 48/49.
2) Indirectly, by writing an actual value to HR 2/3. This makes it possible to assign
any “true” actual value to the current, physical actual value. The resulting
difference is then the referencing value. This value will immediately be included in
calculations for each transferred value and can also be read via HR 48/49.
When changing the referencing value, automatically the target value, the actual value,
the upper mapping end and the upper and lower limit are recalculated.
The removal of the motor power supply has no affect on the internal
measuring system.
d) Using actual value assessment factors to set the spindle pitch
HR 45 (numerator factor) and HR 46 (denominator factor) can be used to represent
any desired spindle pitch.
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.
The denominator factor serves as a simple means of setting the spindle pitch and
resolution.
The numerator factor is primarily used for setting "unlevel" 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
Numerator and denominator factors may take on values between 1 and 10,000.
e) Drag error
During a positioning run, the device compares the computed target position with the
current actual value. If the difference is larger than the ‘drag error’ value (HR 59), the
device sets the corresponding bit in the status word. This situation is especially likely
to occur if external factors (required torque, voltage to motor too low) prevent the
device from achieving the target rpm.
Instruction Manual PSx3xxMod
27
f) Abort run when the master fails
If the connection to the master is interrupted during a positioning run, the master
cannot abort an actual run. An automatic run abort can be generated by using HR 40.
A value greater than 0 sets the time within the Master must send a new and valid
request to keep the connection alive. A timout in the device will result in aborting the
run.
g) Optional: Manual run using external keys (jog key mode)
A manual run can be performed using external keys under the following conditions:
1) when the Modbus is not connected and the address 00 is set with the help of the
address switches
2) when the Modbus is connected and in the control word bit 5 is active (‘release for
jog key mode’) and bit 4 is inactive (‘release for positioning by bus’)
The Modbus is recognized as “communicating” if there’s at least one valid
telegram to the drive each second.
Altogether there’s the following assignment:
Modbus
communicating
address
control
word
bit 4
control
word
bit 5
external
keys
no
> 00 X X
inactive
no
00 X X
active
yes X X
0
inactive
yes X 1 X inactive
yes X 0 1 active
Bit 5 (‘release for jog key mode with the external keys’) and bit 4 (‘release for
positioning by bus’) cannot be set simultaneously. Changing the release while running
(for example from jog key mode to positioning by bus) aborts a run in the other
operation mode.
The operator can adjust the number of increments for a single step via HR 61. The
single step is being executed if one of the external keys is being pressed. If the
external key has been released before the end of the single step, it will be completed
nevertheless. If the external key stays pressed further on, after a short waiting time a
continuous manual run might join the single step under some circumstances. This
continuous manual run will run as long as the external key stays pressed. The
continuation of a single step with a manual run is always enabled if the Modbus is not
active. If the Modbus is active, additionnally to bit 5 of the control word also bit 3
(‘release for manual run in jog key mode’) has to be activated. If bit 3 is not set, each
pressing of the external key results in a single step, even if the key is pressed longer
than the duration of the single step.
The idle period before the drive switches into manual run is specified with HR 87. In
manual run the drive runs maximum to the specified limit switch position (HR52/53
resp. HR 54/55).
If during an jog run both external keys are pressed, the run is aborted immediately. A
new jog run is only possible if both keys are released.
Instruction Manual PSx3xxMod
28
To prepare the function of the external keys, the corresponding key contact (pin 2 or 3
of the 4-pin plug) must be connected with +24V (pin 1). If the key signal is generated
by a voltage source which is galvanically separated from the internal voltage source
of the drive, GND (pin 4) must be connected.
h) Devices with optional holding brake
The device models PSx30xMod-14, PSx31xMod-14, PSx32xMod and PSx33xMod
can be supplied with an optional holding brake. This brake prevents the output shaft
from turning when the power supply to the motor is removed, or, if the motor holding
torque is too low, to a maximum of the level of the nominal torque. A small degree of
rotation always occurs at the output, i.e. the brake cannot be used to hold the drive at
a defined position (for this purpose where appropriate the holding torque might be
increased with the help of HR 78 and HR 79).
To release the brake when a run command is transmitted, these devices first wait for
a short time (by default 0.15 sec before beginning the run, HR 88) and then run a few
increments against the actual direction of movement (number of increments: HR 62).
The brake is closing at the end of every run (by default 1 sec after the end of the run,
HR 89). The advantage of this feature is, that in case of many subsequent runs the
brake has not to be released anew 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
(PSx31xMod and PSx33xMod) or NW4 (PSx30xMod and PSx32xMod).
i) Devices with optional friction brake
The device model PSE34xxMod can be supplied with an optional friction brake. This
brake prevents the output shaft from turning when the power supply to the motor is
removed, or, if the motor holding torque is too low.
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 (see drawings at the end of these instructions). The drive can
then be rotated using a hex wrench NW4. This is quite difficult as the operator has to
overcome both any torque present at the output and the force of the friction brake.
j) Reference runs
The PSx3xxMod positioning system is equipped with an absolute measuring system,
therefore there’s no need for a reference run when powering on the drive. However, if
in certain cases a reference run onto a hard block should be desired (e.g. uniquely
when installing the drive at a machine), the course of action should be the following:
Instruction Manual PSx3xxMod
29
1) Before commanding the reference run the following settings have to be carried
out:
- set the maximum torque (HR 77) and the maximum start-up torque (HR 76) to
max. 10% of the nominal torque
- set the maximum holding torque (HR 79) and the maximum holding torque at
end of run (HR 78) to 0
- set the rpm limit for aborting run (HR 70) to 60
- set the time elapsed until speed falls below rpm limit for aborting run (HR 83)
to 100
(The span of time in which the drive trys to get over the block, decreases:
With the reduced values the positioning will be aborted if the speed stays
below 60% of the target speed for longer than 100ms. By default, these
values are 30% and 200ms.)
- set the corresponding upper and lower limit (HR 52/53 or HR 54/55) in a way
that the block location lays considerable within the area between the upper
and lower limit
(Otherwise there’s the danger that the block is located within the positioning
window and consequently won’t be recognized.)
- Where appropriate, reduce the target speed for manual run (HR 69).
2) Now start the reference run as manual run (set bit 0 or 1 in the control word).
3) Wait for the drive moving (bit 6 in the status word is set).
4) Wait for the drive has stopped and a positioning error has appeared (bit 6 in the
status word is cleared, bit 10 is set).
5) Start a manual run in the opposite direction with the same settings (move a
certain distance away from the hard stop in order the drive can move freely).
6) Only now adjust the desired settings of the adove mentioned holding registers for
normal operation.
Instruction Manual PSx3xxMod
30
5 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 msec
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 upon request
protection class
PSE
IP 54
PSS
IP 65
PSW
IP 66 (in operation)
IP 68 (at standstill)
duty cycle
Device model
Duty cycle in %
Base time in sec.
PSE34xx
PSE30xx to 33xx
PSS
PSW
20
30
20
20
300
300
600
600
Electrical data
nominal power output
PSx30xMod, PSx31xMod,
PSE31xxMod
25 W with 30 % duty cycle
PSx32xMod, PSx33xMod
35 W with 30 % duty cycle
PSE34xxMod
100 W with 20 % duty cycle
supply voltage
24 VDC ±10 % (supply voltages for motor and control
unit are galvanically isolated)
advice: use regulated power supplys
nominal current, control unit
0.1 A
nominal current, motor
PSx30xMod, PSx31xMod,
PSE31xxMod
2.4 A
PSx32xMod, PSx33xMod
3.1 A
PSE34xxMod
7.8 A
positioning resolution
0.9°
positioning accuracy
0.9°
Modbus RTU
Address setting via decade switch:
addresses 1...99
Address setting via bus:
addresses 1...247
baud rate setting via sliding switch:
9600 bps, 19200 bps, 57600 bps
baud rate setting via bus:
1200 bps, 2400 bps, 4800 bps, 9600 bps, 19200 bps,
38400 bps, 57600 bps, 76800 bps, 115200 bps
absolute value acquisition
optical - magnetic
Instruction Manual PSx3xxMod
31
Physical data
positioning range
250 usable rotations, no mechanical limits
measuring system has a span of 256 turns, minus 3
turns security stock at upper and lower range limit
torsional rigidity
(angle of rotation when switching from
operation without backlash to
maximum torque)
max. 0.2°
gear backlash
(without spindle compenation run)
max. 0.5°
spindle lash compensation
automatic loop after every positioning run (may be
deactivated)
output shaft
PSE30xMod-8,
PSE31xMod-8
8 H 9 hollow shaft with
adjustable collar
PSE30xMod-14,
PSE31xMod-14,
PSE32xMod, PSE33xMod
14 H 7 hollow shaft with
adjustable collar
PSE31xxMod-14
PSE34xxMod
14 H 7 hollow shaft with
clamp and feather key
PSS3xxMod-8
PSW3xxMod-8
8 H 9 hollow shaft with
adj. collar or
8 H 8 solid shaft
PSS3xxMod-14
PSW3xxMod-14
14 H 7 hollow shaft with
adj. collar or
14 H 8 solid shaft
maximum radial force
40 N
maximum axial force
20 N
dimensions (l x w x h)
see drawings
weight (approx.)
PSx30xMod-8
650 g
PSx30xMod-14, PSx32xMod
1200 g
PSx31xMod-8
700 g
PSx31xMod-14, PSx33xMod
700 g
PSE31xxMod
1200 g
PSE34xxMod
1900 g
For additional specifications and dimension drawings, please visit our website at
http://www.halstrup-walcher.de/en/produkte/positioniertechnik/positioniersysteme/index.php
7100.004574F_PSx3xxMod.doc 02/2017 Re
Instruction Manual PSx3xxMod
32
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