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