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

Instruction Manual

PSx3xxSE

halstrup-walcher GmbH
Stegener Straße 10

D-79199 Kirchzarten
Phone: [phone]

Fax: [phone]
E-Mail: [e-mail]

Internet: www.halstrup-walcher.com

Document 7100.005054 03/2017

Instruction Manual PSx3xxSE

2

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 Instrument description ..................................................................................... 5

2.1 Functions .................................................................................................... 5

2.2 Assembly Hollow shaft: .............................................................................. 5

2.3 Pin assignment ........................................................................................... 6

2.3.1 Supply voltage connector ............................................................................ 6

2.3.2 Sockets for the bus ..................................................................................... 6

2.3.3 Electrical grounding ..................................................................................... 6

2.4 Setting the device address .......................................................................... 6

2.5 LEDs and address switches ........................................................................ 7

2.6 sercosIII cycle data ..................................................................................... 7

2.6.1 Master to PSx3xxSE (MDT) ........................................................................ 7

2.6.2 PSx3xxSE to Master (AT) ........................................................................... 8

2.7 Parameters ................................................................................................. 9

2.7.1 Read only parameters ................................................................................. 9

2.7.2 Writable parameters .................................................................................. 10

2.7.3 Table of type-dependent values ................................................................ 13

2.7.4 Commands ................................................................................................ 14

2.8 Error messages ......................................................................................... 14

2.8.1 Error (C1D) ............................................................................................... 14

2.8.2 Warnings (C2D) ........................................................................................ 15

3 Special features............................................................................................. 15

3.1 Positioning ................................................................................................ 15

3.1.1 Positioning sequence with loop ................................................................. 16

3.1.2 Positioning sequence without loop ............................................................ 16

3.2 Speed, acceleration and delay .................................................................. 16

3.3 Response if the drive encounters an obstacle or is turned manually ......... 16

3.4 Drag error.................................................................................................. 17

3.4.1 Monitoring ................................................................................................. 17

3.4.2 Correction ................................................................................................. 17

3.5 Readjustment ............................................................................................ 17

3.6 Absolute measuring system ...................................................................... 17

3.6.1 Positioning range (S-0-0278)..................................................................... 17

3.6.2 Scale for the positional data (S-0-0079 and P-0-0079) .............................. 18

3.6.3 Direction of rotation (S-0-0055) ................................................................. 19

3.6.4 Referencing (S-0-0175) and/or (S-0-0052) ................................................ 19

3.6.5 Setting parameters without automatic adjustment ..................................... 19

4 Technical data ............................................................................................... 20

4.1 Ambient conditions .................................................................................... 20

4.2 Electrical data ........................................................................................... 20

4.3 Physical data ............................................................................................. 21

Instruction Manual PSx3xxSE

3

Purpose of instruction manual

This instruction manual describes the features of the
PSx3xxSE positioning system and provides guidelines for its use.

Improper use of these instruments or failure to follow these instructions may cause injury or
equipment damage. All individuals responsible for operating these instruments 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 instruments.
It must be provided to any individuals who assume responsibility for operating the instrument
at a later date.
It must include any supplementary materials provided by the manufacturer.

The manufacturer reserves the right to continue developing this instrument 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.

© 2011, 2015, 2016, 2017

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 PSx3xxSE

4

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.

PSx3xxSE positioning systems are not stand-alone instruments 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 instrument may only be handled as indicated in this manual. Modifications to the
instrument 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 instrument 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

instrument is damaged or if errors occur.
This individual must take the instrument out of service until the error has been corrected and

ensure that it cannot be used unintentionally.
This instrument requires no maintenance.
Only the manufacturer may perform repairs that require the housing to be opened.
The electronic components of the instrument contain environmentally hazardous materials and

materials that can be reused. The instrument 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 PSx3xxSE

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 instrument properly.

2 Instrument description

2.1 Functions
The PSx3xxSE positioning system, an intelligent, compact, complete solution for positioning

auxiliary and positioning axes, consists of an EC motor, gear power amplifier, control
electronics, absolute measuring system and sercos 3 interface. The integrated absolute
measuring system eliminates the need for a time-consuming reference run. 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.
PSx3xxSE positioning systems convert a digital positioning signal into an angle of rotation.

2.2 Assembly
Hollow shaft:
The PSx3xxSE 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 the 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.

Solid shaft:
The PSx3xxSE 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.

Instruction Manual PSx3xxSE

6

Never run the PSx3xxSE in reverse (i.e. do not apply external force to the
output shaft in order to turn it).

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 PSx3xxSE.
Two round 4-pin sockets, Binder series 825 (D-coded) are provided for connection to the bus.

2.3.1 Supply voltage connector

1. +24V motor

2. ground (motor)

3. +24V control unit

4. ground (control unit)

5. housing/pressure balance

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.

2.3.2 Sockets for the bus

1. TD+ (WH/GN, white/green)

2. RD+ (WH/OG, white/orange)

3. TD- (GN, green)

4. RD- (OG, orange)

Due to the use of 4-pin sockets, only four-wire cables should be used.

2.3.3 Electrical grounding
Next to the connecting plugs there is a M4 stud bolt. It is recommended to connect the

positioning system with a cable as short as possible to the machine base. The minimum wire
cross section therefor is 1.5mm².

2.4 Setting the device address
In its delivery state, the PSx3xxSE has the address 1. A different address can be assigned

using the parameter S-0-1040 or via the optional address switches. If the switches are resting
in the position 00 or not available, the address is set using S-0-1040. The change in address is
saved automatically and therefore continues to be available after the device is restarted.
If you set the address using the switches (i.e. switches set to > 00) you cannot change this
value using the bus.

Instruction Manual PSx3xxSE

7

2.5 LEDs and address switches
The following LEDs are located under the transparent sealing plug:

P1/P2: Green link LEDs for ports 1 and 2
S: sercos LED (see sercosIII specifications)
V-Motor: The LED is illuminated yellow when power is available to the motor.
OFF Motor power supply is too high or low
ON Motor power supply ok
flashing Motor power supply ok, PSx in delivery state

Address switch:
The rotary switches indicate the tens and ones places of the address selected. If the switches
are resting in the position 00 or are not available, the address is set using S-0-1040.
The delivery setting is 00, the PSE reports to the bus with the address 1.
If you set the address using the switches (i.e. switches set to > 00) you cannot change this
value using the bus.

2.6 sercosIII cycle data
The IO-profile is used with a fixed configuration (SCP_FixCFG). When configuring the

connections, you must be aware of the following:
S-0-1050.0.x are the settings for the AT (producer)
S-0-1050.1.x are the settings for the MDT (consumer)
The command and/or status bytes 'Connection Control', 'Positioning Control' and 'Producer
RTB word container' are initialised with 0 during the change from CP3 to CP4.

2.6.1 Master to PSx3xxSE (MDT)

Bit

Byte

Meaning

Corresponding IDN

0-15

0-1

Connection control

S-0-1050.1.08

16-31

2-3

I/O Control

S-0-1500.00.01

32-47

4-5

Positioning control

S-0-0346

48-79

6-9

Positioning command value

S-0-0282