halstrup-walcher PS*3**EIP series, Instruction Manual

Page 1: ...005114 03 2017 Instruction Manual PSx3xxPN 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: ...iled description of the status bits 20 d Detailed description of control bits 22 e PKW parameter interface 23 3 Specials 26 3 1 Speed acceleration and deceleration 26 3 2 Response of drive in case of block 26 3 3 Response of drive in case of manual displacement readjustment 26 3 4 Positioning sequence with loop 27 3 5 Positioning sequence without loop 28 3 6 Calculating the absolute physical posit...

Page 3: ... 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 t...

Page 4: ...p 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 maintenan...

Page 5: ...s 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 PSx3xxPN positioning systems convert a digital positioning signal into an angle of rotation If...

Page 6: ...ound 4 pin sockets Binder series 825 D coded are provided for connection to the bus Supply voltage connector round plug Harting plug 1 24V motor 2 ground motor 3 24V control unit 4 ground control unit 5 housing pressure balance external top view 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 Round sock...

Page 7: ...ROM is effective in case it is 0 parameter 92 The device name then is built up in the following way pse xxxxx 3 If no address switches are included in the device or the setting of the address switches is 00 AND the address which is stored in the internal EEPROM is equal 0 the device name which was assigned at last by the IO controller is valid In delivery state address switches are at setting 0 if...

Page 8: ...vity state For each port the following 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 Profinet LED bus fault BF Off The drive is in the process of exchanging data Flashing with 2Hz The drive is connected to the Ethernet network and is no...

Page 9: ...g 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 control word 0x04 and desired target value Set release control word 0x10 Drive begins run Where applicable positioning runs involve a loop run which causes the target positi...

Page 10: ...rface The parameter number is in both cases the same When using acyclic write requests it has to be considered that just before the effective value which a parameter shall receive a control byte has to be transmitted which specifys if the drive shall execute or ignore the write request If the write request shall be ignored this control byte has to be set to 0 otherwise the write request will be ex...

Page 11: ...gs of numerator Par 38 and denominator Par 39 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 4 value in cNm 16 bit R maximum torque 5 maximum torque occurring during the most recent run start phase during which the maximum start up torque applies see Par 63 71 and the phase whe...

Page 12: ...ler values Bit 2 transfer target value Bit 4 release The axle will only run if this bit is set All other bits must be set to 0 16 bit no 0 R target value only writable in process data 33 target position to be achieved value in 1 100 mm for a 4mm spindle and default settings of numerator Par 38 and denominator Par 39 31 bit no 0 R Parameter group position settings direction of rotation 37 0 clockwi...

Page 13: ...end 3 revolutions Changes only possible when at standstill 31 bit yes 1200 R W positioning window 44 permissible difference between target and actual values for position reached bit value in 1 100 mm for a 4mm spindle and default settings of numerator and denominator The maximum value that can be set changes according to the same factor as the resolution Changes only possible when at standstill 1 ...

Page 14: ...ue 63 value in cNm 16 bit yes R W maximum torque 64 Applies after completion of start phase during start phase the value Par 63 applies value in cNm 16 bit yes R W maximum holding torque at end of run 65 value in cNm 16 bit yes R W maximum holding torque 66 maximum holding torque at standstill in cNm after completion of the phase max holding torque at end of run 16 bit yes R W Parameter group time...

Page 15: ... others general purpose 80 89 10 general purpose registers 32 bit yes 0 R W Umot limit 90 voltage limit for bit 4 motor power present given in increments of 0 1 V Beginning a positioning run or a manual run is only possible if the supply voltage for the motor is higher than the value of this parameter During the run the voltage might fall down to 17 5V 180 240 16 bit yes 185 R W temperature limit ...

Page 16: ...stablished after a certain time at power up 0x00 no save position run at power up 0x01 save position run after 15 sec 0x02 save position run after 30 sec 0x03 save position run after 60 sec 16 bit yes 1 R W save position for connection timeout 94 drive will move to this position if a connection loss has been detected and bits 1 0 of Par 93 are set to 0x02 no connection is being established after a...

Page 17: ... all parameters to the values which are saved last by the user without saving the parameters in the EEPROM device name and IP address stay unaffected writing 1 sets the values of all parameters to the delivery state without saving the parameters in the EEPROM device name and IP address stay unaffected writing 1 saves all parameters in the EEPROM reading directly after boot 0 content of memory corr...

Page 18: ...orque 64 2 125 100 10 250 200 50 600 500 10 250 200 20 500 400 maximum holding torque at end of run 65 0 180 60 0 300 100 0 600 200 0 200 70 0 400 140 maximum holding torque 66 0 90 30 0 150 50 0 300 100 0 100 35 0 200 70 device model PSW 301 x 311 x 302 x 312 x 305 x 315 8 322 14 332 14 325 14 335 14 Name Par No value range delivery state target speed 53 15 180 180 10 125 125 3 60 60 20 150 125 1...

Page 19: ...000 2500 100 1200 1000 180 2200 1800 maximum holding torque at end of run 65 0 300 200 0 1200 400 0 2500 900 0 1000 350 0 1800 600 maximum holding torque 66 0 150 50 0 600 200 0 1250 450 0 500 175 0 900 300 device model PSE 3325 3410 3418 Name Par Nr value range delivery state target speed 53 2 18 15 10 100 100 10 90 90 target speed for manual run 56 2 18 6 10 100 40 10 90 30 acceleration 58 8 45 ...

Page 20: ... when a transferred target position has been reached successfully not at the end of a manual run elsewise the target position is the same as the applicable limit switch after manual displacement while at standstill when the actual position is within the positioning window again This bit is reset after transferring a target position if the difference from the actual value is larger than the positio...

Page 21: ...he internal device temperature falls below the limit value by 5 C Bit 8 movement opposite loop direction This bit is set after power up or a reset a lash in a driven spindle which might be present is not yet eliminated when commanding a positioning run or a manual run in opposite of the loop direction when commanding a positioning run or a manual run when no loop is configured Par 45 is zero This ...

Page 22: ...e 30V when initiating a positioning run or a manual run if during the run the voltage leaves the given corridor This bit is reset if the power to the motor is above the Umot limit and below 30V when initiating a positioning run or a manual run Bit 14 15 positive negative range limit This bit is set if the limit value is reached during a manual run but not if reached during a positioning run if a l...

Page 23: ...ssible to write and read parameter values by using the cyclic process data connection besides also other values might be retrieved from the drive With the help of the PKW parameter interface the IO controller sets and transmits a new command It repeats this command cyclically until the drive has processed the command and has sent back an answer The drive provides this answer until the IO controlle...

Page 24: ... parameter number PNU refers to the table above Table of implemented parameter entries Request identifier IO controller drive Request identifier Function Possible response identifier of drive positive negative 0 No request 0 7 1 Request parameter value 1 or 2 2 Modify parameter value word 1 3 Modify parameter value double word 2 6 Request parameter value array 4 or 5 7 Modify parameter value array...

Page 25: ...g response identifier AK 7 the drive reports an error code according to the following table Error code Meaning 0 Illegal parameter number 1 Parameter value cannot be modified 2 Minimum maximum limit exceeded 3 Faulty subindex 4 No array 5 Incorrect data type 6 Setting not allowed resetting only 17 Request cannot be processed due to operating state 18 Other error When a write request is being compl...

Page 26: ...uld go to the same target than before In this case deassert the release bit 4 of the control word and assert it again Bit 2 transfer target value has to be set at the same time The drive then moves on when the release bit is being asserted again 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 re...

Page 27: ...ove the current position actual value 1 and the length of loop is 0 the drive runs past the target value by the specified length of loop run 1a and then runs to the target value run 1b If the target value is below the current position and the actual value actual value 2 is outside the length of loop the drive approaches the target value directly run 2 If the position always should be approached fr...

Page 28: ...ioning range is done with the help of the parameter upper mapping end Par 41 In the delivery state the drive is at position 51200 the upper limit switch is set to 101200 and the lower limit switch is set to 1200 yielding a positioning range of 125 rotations 50000 increments So if the desired positioning range doesn t exceed 125 rotations in delivery state none of the following actions to adjust th...

Page 29: ... The above given increment and position values relate to the following settings which correspond to the delivery state a position scaling numerator Par 38 400 b position scaling denominator Par 39 400 c referencing value Par 40 0 These 3 parameters have an influence on the above given increment and position values With the help of the referencing value a shift can be reached with the help of the p...

Page 30: ...mediately be included in calculations for each transferred value and can also be read via Par 40 When changing the referencing value automatically the target value the actual value the upper mapping end and the upper and lower limit are re calculated The removal of the motor power supply has no affect on the internal measuring system 3 7 Using position scaling factors to set the spindle pitch Par ...

Page 31: ...tting Par 58 3 10 Abort run when the master fails If the connection to the master is interrupted during a positioning run the master cannot abort an actual run In order to generate an automatic run abort in this case there s a mechanism implemented in the drive that monitors the communication to the IO controller In case of a timeout the drive will abort any positioning if bits 1 0 of Par 93 are s...

Page 32: ...ng the drive at a machine the course of action should be the following 1 Before commanding the reference run the following settings have to be carried out set the maximum torque Par 64 and the maximum start up torque Par 63 to max 10 of the nominal torque resp the lowest possible values set the maximum holding torque Par 66 and the maximum holding torque at end of run Par 65 to 0 set the rpm limit...

Page 33: ...IP 54 PSS IP 65 PSW IP 66 in operation 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 Electrical data nominal power output PSx30xPN PSx31xPN PSE31xxPN 25 W mit 30 ED PSx32xPN PSx33xPN 35 W mit 30 ED PSE34xxPN 100 W mit 20 ED supply voltage 24 VDC 10 supply voltages for motor and control unit are galvanically is...

Page 34: ...with adjustable collar PSE31xxPN PSE34xxPN 14h7 hollow shaft with clamp and feather key PSS3xxPN 8 PSW3xxPN 8 8H9 hollow shaft with adjustable collar or 8h8 solid shaft PSS3xxPN 14 PSW3xxPN 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 force 40 N maximum a...

Page 35: ...Instruction Manual PSx3xxPN 35 ...