halstrup-walcher PS*3**C, PSE3**C, PSW3**C, PSS3**C Instruction Manual
Document 7100.004224 03/2017
Instruction Manual
PSx3xxC
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 PSx3xxC
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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 Hollow shaft: ...................................................................................................... 5
2.3 Pin assignment ..................................................................................................................... 6
2.4 Setting the device address and baud rate ............................................................................. 7
2.5 Start-up ................................ ................................................................................................ . 8
2.6 CAN Bus ............................................................................................................................... 9
3 Sequence of positioning ......................................................................................................... 23
4 Specials ................................................................................................................................. 23
5 Technical Data ....................................................................................................................... 30
Instruction Manual PSx3xxC
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Purpose of instruction manual
This instruction manual describes the features of the PSx3xxC 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.
© 2010, 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 PSx3xxC
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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.
PSx3xxC 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 PSx3xxC
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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 PSx3xxC 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 CANopen 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.
PSx3xxC positioning systems convert a digital positioning signal into an angle of
rotation.
2.2 Installation
Hollow shaft:
The PSx3xxC is mounted onto the machine by sliding the hollow shaft of the
positioning gear onto the axis to be driven and then securing it with an adjustable
collar (recommended diameter of the axis is either 8h9 or 14h9; wrench torque for
screw: 1.5Nm). The adjustable collar should be tightened only just to the point where
it can no longer rotate freely.
Securing the pin under the hollow shaft into an appropriate bore will prevent further
rotation.
Instruction Manual PSx3xxC
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Solid shaft:
The PSx3xxC 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 PSx3xxC 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 PSx3xxC.
A series 715 (B encoded) 5-pin round socket and 5-pin (B encoded) plug are provided
for connecting the CAN bus.
A 9-pin, D-sub plug is also available as an optional CAN bus connection.
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 1 +24V (output)
2 GND (motor) 2 forward key
3 +24V control unit 3 reverse key
4 GND (control unit) 4 ground
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.
9-pin, D-sub plug for CAN bus:
(external top view)
2 CAN_L
3 CAN_GND
7 CAN_H
rest: not assigned
Instruction Manual PSx3xxC
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Round plug for CAN bus: Round socket for CAN bus:
(external top view) (external top view)
1 housing 4 CAN_H
2 not assigned 5 CAN_L
3 CAN_GND
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 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 positions 00 or 01 the address is set using the CAN bus
with SDO #2026.
The delivery setting is 00, the PSx3xxC reports to the bus with the address 1.
If the switches have been used to set the address (i.e. the switch setting is > 01), this
value cannot be changed via the CAN bus.
The yellow LED represents the state of the motor supply voltage, the red and green
LEDs represent the CANopen state.
Switch configurations:
PSx30xC, PSx31xC-8, PSx32xC, PSx31xC-14, PSx33xC, PSE34xxC
PSE31xxC
Setting the baud rate:
1
2
PSx30xC, PSx31xC-8,
PSx32xC, PSx31xxC,
PSx31xC-14, PSx33xC,
PSE34xxC
OFF
OFF
baud rate is set via bus (default = 500 kBaud)
OFF
ON
500 kBaud
250 kBaud
ON
OFF
250 kBaud
500 kBaud
ON
ON
125 kBaud
Instruction Manual PSx3xxC
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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 replace the protective cap after setting the address.
This will prevent dust and contaminants from entering the device.
2.5 Start-up
Unlike previous versions, the PSx3xxC does not have to be run through an initial
reference loop prior to positioning after the supply voltage has been hooked up. A
positioning or manual run can begin immediately.
Positioning sequence (with loop)
The PSx3xxC 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 PSx3xxC internal
gear backlash does not play a role in this case, as position data are acquired directly
at the output shaft.
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 allowed.
Instruction Manual PSx3xxC
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2.6 CAN Bus
CANopen (corresponding to CiA DS 301 Version 4.02) is used as the protocol at the
CAN bus interface:
one transmit and one receive SDO per device
one asynchronous transmit and receive PDO, active by default
one heartbeat object every 500 msec
green LED = RUN-LED according CANopen:
Single flashes: CAN stop
Continuous flashing: CAN preoperational
Continuously illuminated: CAN operational
red LED = ERROR-LED according CANopen:
Off: no error
Single flashes: CAN-transmitter or -receiver has reached its
warning limit
Double flashes: Guard event has occurred
Triple flashes: Sync failure
Continuously illuminated: CAN-Bus-OFF
yellow LED = Display actuator voltage
Off: supply voltage for motor to low or to high
On : supply voltage ok
Flashing: supply voltage ok, PSx in delivery state
Instruction Manual PSx3xxC
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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 model
1000
returns a “0” when read
0 0
R
error register
1001
Bit 0: general error
Bit 4: communication error
8 bit
0 R
error list
1003
sub index 0: quantity of indexes
sub index 1 and 2: most recent
emergency errors
8 bit
32 bit
0 0 R
R
sync ID
1005
COB ID for the sync command
32 bit
no
80h
R/W
comm cycle
1006
communication cycle time
32 bit
no 0 R/W
sync window
1007
synchronous window time
32 bit
no 0 R/W
guard time
100C
guard time in msec
0 = off
16 bit
no 0 R/W
life time
100D
life time factor
8 bit
no 0 R/W
emcy ID
1014
COB ID for emergency message
32 bit
80h+
device
address
R
emcy inhibit
1015
inhibit time for emergency message
16 bit
no 0 R/W
consumer
heartbeat
1016
sub index 0: quantity of indexes (= 2)
sub index 1 and 2:
bit 15-0: Heartbeat time in msec
bit 23-16: node ID of producer
8 bit
32 bit
no 2 0 R R/W
producer
heartbeat
1017
cycle time for heartbeat via PSx3xxC
0 = off
16 bit
no
500
R/W
identity
1018
sub index 0: quantity of indexes (= 4)
sub 1: Vendor-ID (= 0x000002D8)
sub 2: Product code (= 0x30313334)
sub 3: Revision number (= 0)
sub 4: Serial number (= 0)
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
sub 1: COB ID of this PDO
8 bit
32 bit
no 0 200h+
device
address
R
R/W
sub 2: PDO type
8 bit
no
0xFF
R/W
receive
PDO 1
mapping
1600
sub index 0: quantity of indexes (= 3)
sub 1: 0x20240010
sub 2: 0x00000010
sub 3: 0x20010020
8 bit
32 bit
32 bit
32 bit
3 R
R
R
R
transmit
PDO 1
communication
parameter
1800
sub index 0: quantity of indexes
sub 1: COB ID of this PDO
8 bit
32 bit
no 0 180h+
device
address
R
R/W
sub 2: PDO type
sub 3: inhibit time
8 bit
16 bit
no
no
0xFF
1000
(100ms)
R/W
R/W
sub 5: event time
16 bit
no 0 R/W
transmit
PDO 1
mapping
1A00
sub index 0: quantity of indexes (= 3)
sub 1: 0x20250010
sub 2: 0x20300010
sub 3: 0x20030020
8 bit
32 bit
32 bit
32 bit
3 R
R
R
R
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