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

Instruction Manual PSx3xxPL

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Instruction Manual
PSx3xxPL

halstrup-walcher GmbH
Stegener Straße 10

D-79199 Kirchzarten

Tel.: [phone]
Fax: [phone]

E-Mail: [e-mail]
Internet: www.halstrup-walcher.com

Document 7100.005424 07/2017

Instruction Manual PSx3xxPL

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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 ................................................................................................. 7

2.5 LEDs .................................................................................................................................. 7

2.6 Start-up .............................................................................................................................. 8

2.7 Powerlink interface ............................................................................................................. 9

3 Specials ................................................................................................................................. 22

4 Technical Data ....................................................................................................................... 31

Instruction Manual PSx3xxPL

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Purpose of instruction manual

This instruction manual describes the features of the PSx3xxPL 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.

© 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 PSx3xxPL

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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.

PSx3xxPL 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

materials 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 PSx3xxPL

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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 PSx3xxPL 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 EtherCAT 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.

PSx3xxPL positioning systems convert a digital positioning signal into an angle of
rotation.

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.

2.2 Installation

Hollow shaft:
The PSx3xxPL 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 axis diameter 8h9 resp. 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 (if required, consider drawing on the website).

Instruction Manual PSx3xxPL

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Solid shaft:
The PSx3xxPL 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.

Driving the PSx3xxPL 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 PSx3xxPL.
Two round 4-pin sockets, Binder series 825 (D-coded) are provided for connection to
the bus.

Supply voltage connector::

Round socket for bus:

Round plugr

Harting plug

(extrenal top view)

(extrenal top view)

(extrenal top view)

1 +24V motor
2 GND motor
3 +24V control unit
4 GND control unit
5 housing/pressure balance

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.

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

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.

Instruction Manual PSx3xxPL

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2.4 Setting the device address

Removing the protective cap provides access to two rotary switches for setting the
device address at the bus.

The rotary switches indicate the tens and ones places of the address selected.
The delivery setting is 00, e.g. before the first start-up a valid address has to be

set.

2.5 LEDs

The following LEDs are located under the transparent sealing plug:

P1/P2: green Link/Act LEDs for ports 1 and 2
BS/BE: Powerlink STATUS and ERROR LEDs (green/red; see Powerlink spec.)
V_Motor: The LED is illuminated yellow when power is available to the motor.

Switch configurations:
PSx30xPL, PSx31xPL-8, PSx31xPL-14, PSx33xPL

PSx32xPL, PSE31xxPL,
PSE34xxPL

Meaning of the LEDs:

1) Each of the ports (P1/P2) has an associated green LED for the “Link” and the
“Activity” state.

For each port the following states are possible:

- Off  no connection

- On  connection; data transmission inactive

- Flickering with 10 Hz  connection; data transmission active

2) The green Powerlink LED “Bus Status” (BS) signalizes the CN cycle state.

- Off  NOT_ACTIVE

- Flickering with 10 Hz  BASIC_ETHERNET

Instruction Manual PSx3xxPL

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- Single flashing with 0.8 Hz  PRE-OPERATIONAL_1

- Double flashing with 0.6 Hz  PRE-OPERATIONAL_2

- Triple flashing with 0.5 Hz  READY_TO_OPERATE

- Flashing with 2.5Hz  STOPPED

- On  OPERATIONAL

3) The red Powerlink LED “Bus Error” (BE) signalizes an error:

- Off  no error

- On  error

4) The yellow LED “Motor” indicates the supply voltage for the motor:

- Off  supply voltage for motor too low or too high

- On  supply voltage for motor ok

2.6 Start-up

After the supply voltage has been hooked up, a positioning or manual run can begin
immediately:

a) Positioning run

- To be able to control the drive with the help of PDOs, it has to be switched to the CN
cycle state “operational”.

- Transfer target value:

- PDO with control word = 0x14 and desired target value
OR

- PDO with control word = 0x10 and target value in SDO #2001
 Drive begins run

- Abort run by resetting the release bit:

- PDO with control word = 0x00
OR

- SDO #2024 with value 0x00 (if pre-operational)

- 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

- Transfer target value:

- PDO with control word = 0x04 and desired target value
OR

- PDO with control word = 0x00 and target value in SDO #2001

- Set release:

- PDO with control word = 0x10
OR

- SDO #2024 with value 0x10 (if pre-operational)
 Drive begins run

Instruction Manual PSx3xxPL

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Where applicable, positioning runs involve a “loop run” which causes the
target position to be reached from a predefined direction. The direction and
the length of the loop run can be set to the desired value with SDO #201F
(“length of loop”) before the run. With SDO #201F the loop run might also
be disabled.

Setting of control word and target value with the help of SDOs is only
possible in the CN cycle state “pre-operational”.

b) Manual run

- Start manual run (transmit PDO with control word = 0x11 resp. 0x12 or, if pre­operational, transmit SDO #2024 with value 0x11 resp. 0x12): device begins to run

- End manual run by clearing the manual run command (transmit PDO with control
word = 0x10 or, if pre-operational, transmit SDO #2024 with value 0x10) or by
deasserting release (transmit PDO with control word = 0x00 or, if pre-operational,
transmit SDO #2024 with value 0x00).

- Transferring a target value during a manual run will end the manual run and the
device will immediately move on to the transmitted position (PDO with control word =
0x14 and desired target value). If pre-operational, target value in SDO #2001. The
drive then automatically deasserts the manual run bits in the control word (bits 0 and

1).

Underwater usage of the PSW is not allowed.

2.7 Powerlink interface

The Powerlink interface is realized according the EPSG standard 301, version 1.2.0:

 One send and receive SDO per device
 One asynchron send and receive PDO, active by default

Instruction Manual PSx3xxPL

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a) Table of entries implemented from object dictionary

Name

Index
number

Function

Range of
value

Back
up

Delivery
State

R/W
Device Type

1000

returns a “0” when read

32 bit

0 R

Error
Register

1001

Error register according CiA DS 301

8 bit

R

Error History

1003

Sub-Index 0: quantitiy of current entrys
sub 1 … 254: error entrys (latest entry in
sub 1)

8 bit
160 bit

no 0 R/W
R

Manufacturer
Software
Version

100A

denotes the software of the Powerlink
drives; when being read the string
“PSx3xxIE/PL” is given back

R

Identity

1018

sub index 0: quantity of indexes (= 4)
sub 1: Vendor-ID (= 0x000002D8)
sub 2: Product code
sub 3: Revision number (= 0x00010000)
sub 4: Serial number

8 bit
32 bit
32 bit
32 bit
32 bit

4 R
R
R
R
R

Receive
PDO 1
communi­cation
parameter

1400

sub index 0: quantity of indexes (= 2)
sub 1: Node ID (= 0)

sub 2: Mapping Version (= 0)

8 bit

0...0
8 bit
8 bit

no

R
R/W

R

Receive
PDO 1
mapping

1600

sub index 0: quantity of indexes (= 2)
sub 1: 0x0010000000002024

sub 2: 0x0020001000002001

2...2
8 bit
64 bit
64 bit

no

2 R/W
R

R

Transmit
PDO 1
communi­cation
parameter

1800

sub index 0: quantity of indexes (= 2)
sub 1: Node ID (= 0)

sub 2: Mapping Version (= 0)

8 bit

0...0
8 bit
8 bit

no

R
R/W

R

Transmit
PDO 1
mapping

1A00

sub index 0: quantity of indexes (= 3)
sub 1: 0x0010000000002025

sub 2: 0x0010001000002030
sub 3: 0x0020002000002003

3...3
8 bit
64 bit
64 bit
64 bit

no 3 R/W
R

R
R