halstrup-walcher PS 3 EIP Series, Instruction Manual

Page 1: ...100 005164 Instruction Manual PSx3xxEIP 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 de Internet www halstrup walcher de ...

Page 2: ...us models of gears 22 2 9 3 Process data format 24 2 9 4 Detailed description of the status bits 24 2 9 5 Detailed description of control bits 27 2 9 6 Parameter interface 28 3 Sequence of positioning 31 3 1 Positioning sequence with loop 31 3 2 Positioning sequence without loop 32 4 Specials 32 4 1 Speed acceleration and deceleration 32 4 2 Maximum starting torque and maximum torque 32 4 3 Respon...

Page 3: ...roughout 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 w...

Page 4: ... 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 maintenanc...

Page 5: ...g auxiliary and positioning axes consists of an EC motor gear power amplifier control electronics absolute measuring system and EtherNet IP 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 su...

Page 6: ... thickness Under no circumstances may the PSx3xx hard be screwed to the machine without an air gap The rotation lock is made via the pin in the picture below the hollow shaft into a suitable bore as rotary torque support This hole must be slightly larger than the diameter 6 h9 of the pin An oblong hole or slot with a slightly larger width recommended 6 05 6 10 mm than the dimension of the pin diam...

Page 7: ...tightening torque of the screws with 3 mm hexagon socket 1 5 Nm The information on torque support applies in the same way as described above For PSE30x 14 PSE32x 14 PSS30x 14 and PSS32x 14 the position of the anti rotation lock can be set at greater distances by unscrewing the base cover turning it 180 and then screwing it back on When screwing on make sure that the seal is correctly inserted in t...

Page 8: ...t is strongly recommended to separate power cables to the PSx3xxEI from other power cables that might have dangerous voltage 2 5 Pin assignment Please take care that the mating connectors and the used cables match the connectors in the PSx3xx and are mounted correctly in order to achieve the protection class 2 5 1 Supply voltage connector connector pattern external top view assignment type 1 24V m...

Page 9: ... type 1 TD 2 TD 3 RD 4 RD 5 GND motor 6 GND control unit 7 24V motor 8 24V control unit M12 Y cod 8 pol 2 5 4 Connector for jog keys connector pattern external top view assignment type 1 24V output 2 forward key 3 reverse key 4 GND M8 4 pol 2 5 5 Connector option 2Y Two Y coded bushings for bus and control supply One A coded connector for motor supply connector pattern external top view assignment...

Page 10: ...up the device The following settings will result IP address 192 168 1 0 value of address switches netmask 255 255 255 0 gateway 0 0 0 0 nicht verwendet 5 Use the last address assigning method which has been set by the EIP scanner For this purpose set address 0 with the help of the address switches if present before power up the device TCP IP Objekt attr 3 configuration control was at last 0 IP add...

Page 11: ...g states are possible green off yellow off no line connection green on yellow off line connection is active no data activity green on yellow is flickering with 10 Hz line connection is active data activity 2 red green LED Module Status MS off No power is supplied to the device flashes red green Self test only after power up resp a reset command flashes red Minor recoverable fault e g incorrect con...

Page 12: ...ar 4 both as expl request Drive begins run Abort run by resetting the release bit control word 0x00 in process data OR control word 0x00 in Par 3 as expl request 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 duri...

Page 13: ...un bits in the control word bits 0 and 1 2 9 EtherNet IP interface Pure UCMM based as well as connection based communication with assemblies is supported for the process data see the EDS file which belongs to the device To move the drive the control word as well as the target position have to be set appropriate These are encapsulated in the Assem100 together with the output data of the parameter i...

Page 14: ...ssembly exist With the help of process data positioning runs can be activated and monitored Besides parameters might be written and read for this the feature parameter interface is being included acyclic read and write requests Access on all parameters is also possible with acyclic read and write requests instead via the parameter interface The parameter number is in both cases the same When using...

Page 15: ...pindle and default settings of numerator Par 28 and denominator Par 30 Writing onto this parameter causes the current position to be referenced onto the transferred value Changes only possible when at standstill 31 bit no R W actual torque 14 value in cNm 16 bit R maximum torque 15 maximum torque occurring during the most recent run start phase during which the maximum start up torque applies see ...

Page 16: ...e 3 Bit 0 manual run to larger values Bit 1 manual run to smaller values Bit 2 transfer target value Bit 3 Enable manual operation in jog mode Bit 4 release The axle will only run if this bit is set Bit 5 Enable jog mode with keys When the bus connection is active the external keys are only active when the bit is set Bit 6 Run without loop Bit 7 Execute switch on loop movement Bit 8 Jog to larger ...

Page 17: ...evolutions Changes only possible when at standstill 31 bit yes 102400 R W upper limit 36 maximum permitted target position minimum value upper mapping end 253 revolutions maximum value upper mapping end 3 revolutions Changes only possible when at standstill 31 bit yes 101200 R W lower limit 38 minimum permitted target position minimum value upper mapping end 253 revolutions maximum value upper map...

Page 18: ...s the resolution Writing is only possible at standstill 1 100 16 bit yes 1 R W Parameter group velocity target speed 52 maximum rpm to be used for positioning runs value in rpm 16 bit yes R W target speed for manual run 58 maximum rpm to be used for manual runs value in rpm 16 bit yes R W speed limit for aborting run 60 value in of the target speed 30 90 16 bit yes 30 R W acceleration 62 value in ...

Page 19: ...nual run 82 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 Changes only possible when at standstill value in steps of 5 msec 100 10000 16 bit yes 1000 R W waiting time for brake at end of run 84 time period after the end of run in which the brake stays released value in msec 0 3000 16 bit yes 1000 R W UMot filter 86 average time for ...

Page 20: ...tent of memory correct 0 content of memory incorrect reading after saving 0 saving finished successfully 0 saving is still in progress or is finished incorrectly the time for saving is up to 200 msec Changes only possible when at standstill 3 2 1 or 1 writing 0 2 reading 15 bit no R W configuration for connection timeout 118 Bits 1 0 configuration for connection timeout if a connection has been es...

Page 21: ... been detected and bits 1 0 of Par 9 are set to 0x02 no connection is being established after a certain time at power up and bits 3 2 are being set appropriate 31 bit yes 0 R W repetition time for save position run 122 drive will start another save position run if the last save position run was not successful e g because of undervoltage positioning error block or overtemperature value in sec 0 no ...

Page 22: ...ue at end of run 70 0 180 60 0 300 100 0 600 200 0 200 70 0 400 140 0 700 300 maximum holding torque 72 0 90 30 0 150 50 0 300 100 0 100 35 0 200 70 0 450 150 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 Par No value range delivery state target speed 52 15 180 180 10 125 125 3 60 60 20 150 125 10 80 60 5 35 35 target speed for manual run 58 15 180 80...

Page 23: ... run 70 0 1200 400 0 2500 900 0 1000 350 0 1800 600 maximum holding torque 72 0 600 200 0 1250 450 0 500 175 0 900 300 device model PSE 338 14 3325 3410 3418 Name Par No value range delivery state target speed 52 8 85 55 2 18 15 10 100 100 10 90 90 target speed for manual run 58 8 85 15 2 18 6 10 100 40 10 90 30 acceleration 62 37 200 200 8 45 45 20 350 350 10 315 315 deceleration 64 37 200 200 8 ...

Page 24: ...ut assembly For this purpose set Param1 and Param2 to the entry without Parameter Interface Hint Param1 and Param2 always must hold the same entry e g both with Parameter Interface or both without Parameter Interface 2 9 4 Detailed description of the status bits Bit 0 target position reached This bit is set when a transferred target position has been reached successfully not at the end of a manual...

Page 25: ... 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 or because of an invalid bit combination in the control word This bit is reset with each new run command Bit 6 drive is running This bit is set when the drive is rotating This bit is reset...

Page 26: ...alue of the reference value Par 32 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 with each new run command Bit 13 motor power was missing This bit is set if the power to the motor is less than the Umot limit Par 108 or above 30V when initiating a positioning run or a manual run if during ...

Page 27: ... mode Bit 4 Release Run commands will only be executed if this bit is set This bit must be set for positioning runs and manual 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 Enable jog mode with keys If the bus connection is active jog mode via keys is only possible if this bit is set and bit 4 is not set For jog operatio...

Page 28: ...fter taken over the actual parameter value This takes place by setting the request identifier 0 no request and subsequent waiting until the drive confirms this request with the response identifier 0 no response Afterwards the same parameter value might be requested again One drive can only process one request at a time Structure of the parameter interface Parameter interface PKE IND PWE 0 1 2 3 4 ...

Page 29: ...en a successful completion of the request positive or an error negative Response identifier drive EIP scanner Response identifier Function 0 No response 1 Transfer parameter value word 2 Transfer parameter value double word 4 Transfer parameter value array word 5 Transfer parameter value array double word 6 Transfer number of array elements 7 Cannot process request with error number Subindex IND F...

Page 30: ...operating state 18 Other error When a write request is being completed successfully e g request identifier AK 2 3 7 or 8 the response contains the same data as a read request of this parameter The response identifier then is one of the values 1 2 4 or 5 depending on the data type The parameter number PNU the index IND and the parameter value PWE are the same as given in the request Hence it is pos...

Page 31: ...the loop length 2a and the final destination is then approached in forward motion 2b 3 New setpoint position is only slightly larger than the current actual position and previously there was no positioning movement with loop e g a manual movement In all cases the drive approaches the target with a forward movement whose length corresponds at least to the loop length In order to achieve this the dr...

Page 32: ...imum starting torque can be set via Par 68 the maximum driving torque The starting torque is active for the period in Par 76 after each start of travel It should always be slightly higher than the driving torque since the drive requires more torque for the acceleration phase than for constant driving Both values are not sharp torque limits instead the motor current is limited to a value which corr...

Page 33: ...tions above are being fulfilled The motor power has to be in a valid range at the time when this transition happens e g Bit 4 in the status word is being set If the motor power is missing at that time the readjustment fails and bits10 positioning error and 13 motor power was missing will become active If later the motor power comes back again after leaving the positioning window there will be no f...

Page 34: ... 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 freely between 3 rotations and 253 rotations measured from the actual position Examples a After mounting the drive the displayed position is 51200 which...

Page 35: ...r is the following a direction of rotation Par 26 position scaling numerator Par 28 position scaling denominator Par 30 b referencing value Par 32 c upper mapping end Par 34 d upper limit Par 36 lower limit Par 38 positioning window Par 40 length of loop Par 42 drag error Par 44 8 In order to save the settings permanently in the EEPROM write 1 to Par 113 As soon as reading of Par 113 shows 0 the s...

Page 36: ...4 to 0 the drag error monitoring can be disabled 4 8 Drag error correction With Par 48 the drag error correction can be enabled With this feature enabled the drive will raise or lower the target speed proportional to the drag error by the configured value The drive attempts under consideration of the configured maximum current to compensate the drag error which has developped by controlling the ta...

Page 37: ...sed before the single step has been completed it will still be completed If the same key remains pressed the single step may be followed by a continuous manual movement after a short waiting time which continues as long as the key is pressed The waiting time until the drive changes over to manual travel is set with parameter 82 In manual travel the drive moves to the respective limit switch positi...

Page 38: ...increments against the actual direction of movement The brake is closing at the end of every run by default 1 sec after the end of the run Par 84 The advantage of this feature is that in case of many subsequent runs the brake has not to be released anew each time Manual turning When mounting or dismounting a PSx3xx it may be necessary to manually turn the output shaft to a certain position For thi...

Page 39: ... 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 rubber plug 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 ov...

Page 40: ...he 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...

Page 41: ...tion 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 5 2 Electrical data nominal power output PSx30x PSx31x PSE31xx 25 W mit 30 ED PSx32x PSx33x 35 W mit 30 ED PSE34xx 100 W mit 20 ED supply voltage 24 VDC 10 supply voltages for motor and control unit are galvanically isolated advice use regulated power supplys ...

Page 42: ...E32x PSE33x 14H7 hollow shaft with adjustable collar PSE31xx PSE34xx 14h7 hollow shaft with clamp and feather key PSS3xx 8 PSW3xx 8 8H9 hollow shaft with adjustable collar or 8h8 solid shaft PSS3xx 14 PSW3xx 14 14H7 hollow shaft with adjustable collar or 14h8 solid shaft recommended diameter of the spindle head according to the hollow shaft diameter with an interference fit of h9 maximum radial fo...

Page 43: ...Instruction Manual PSx3xxEIP 43 6 Certificate of Conformity 7100 005164L_PSx3xxEIP docx 12 2019 Ka ...