halstrup-walcher PSD4 Series, Bus Description

Page 1: ...Bus description PSD4xx positioning system IO Link...

Page 2: ...ed either wholly or in part or made available to third parties The instruction manual is part of the product Please read this manual carefully follow our instructions and pay special attention to the...

Page 3: ...ed description of control bits 26 4 Functions 27 4 1 Starting a positioning run 27 4 2 Types of positioning 28 4 2 1 Positioning run with loop 28 4 2 2 Positioning run without loop 28 4 2 3 Manual run...

Page 4: ...cription is to be used for the commissioning and integration of the drive into a field bus system Technical data for the electrical connections of your drive can be found in the electrical connector a...

Page 5: ...es are taken WARNING Incorrect assembly can lead to the destruction of the drive WARNING Check that the supply lines are not pinched or crushed Lay the supply lines according to the general and specif...

Page 6: ...ust be grounded before connecting it to the power supply cable The grounding cable must be connected to the correct position on the PSD4xx and to the ground potential e g machine base Note The positio...

Page 7: ...SDCI protocol 3 1 Status LEDs The following LEDs are located under the sealing plug Green LED gn RUN LED in accordance with IO Link Off IO Link communication not available 90 on 10 off IO Link communi...

Page 8: ...3 Sub 14 Sub 15 Sub 16 Master command Master cycle time Minimum cycle time Telegram capability IO Link version ID Process data length input Process data length output Manufacturer ID 1 Manufacturer ID...

Page 9: ...Data storage lock Local parameterisation lock Local user interface lock Reserved 16 bit Yes 0 R W Name of manufacturer 16 halstrup walcher GmbH String R Manufacturer text 17 www hwg eu String R Produ...

Page 10: ...it 7 Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Target position reached Reserved Toggle bit Reserved Motor power present Positioning run aborted Drive is running Temperature exceeded Moveme...

Page 11: ...1 8 bit No 0 R W Actual position 68 Current actual position value in 1 100 mm for default values of numerator ISDU 116 and denominator ISDU 117 and spindle pitch 4mm Writing to this index number caus...

Page 12: ...re given as an integer YYWW 16 bit R Serial number 77 Device serial number 0 65535 16 bit R Device type 78 The respective device type from the PSD series the last 2 digits of the 5 digit numbers refer...

Page 13: ...run to larger values Manual run to smaller values Transfer target value When transferring the target value with the aid of process data the target value is accepted only if this bit is set Release the...

Page 14: ...n 1 100 mm numerator 400 denominator 150 1 10000 16 bit Yes 400 R W Actual value assessment denominator 117 1 10000 16 bit Yes 400 R W Write referencing value 118 If this parameter is set to 0 and the...

Page 15: ...e range of values is reduced in accordance with the gear ratio 31 bit Yes See chap 3 3 R W Positioning window 123 Permissible difference between target and actual values for the position reached bit T...

Page 16: ...aximum rpm to be used for manual runs Value in rpm See chap 3 3 16 bit Yes See chap 3 3 R W Acceleration 1 139 Value in rpm per sec See chap 3 3 16 bit Yes See chap 3 3 R W Deceleration 1 141 Value in...

Page 17: ...00 R W Time period for start up current 155 Value in ms 10 1000 16 bit Yes 200 R W Duration of max holding current at end of run 157 Value in ms 0 1000 16 bit Yes 200 R W UMot filter 161 Average time...

Page 18: ...of values Back up Delivery state R W Other parameter group General purpose register 169 Freely usable register 31bit Yes 0 R W UMot limit 179 Voltage limit for bit Motor power present given in increm...

Page 19: ...the parameters in EEPROM without a start up reference loop and without positioning in the middle of the measurement range Writing a 1 Resets all parameters to the delivery states without saving the p...

Page 20: ...es Delivery state Upper mapping end 120 806 400 806 400 198 498 806 400 806 400 Upper Limit 121 805 200 805 200 197 298 805 200 805 200 Lower Limit 122 805 200 805 200 197 298 805 200 805 200 Target r...

Page 21: ...t rpm Posi 137 1 317 63 1 250 50 Target rpm manual run 138 1 317 22 1 250 17 Acceleration 139 1 1587 150 1 1250 125 Deceleration 141 1 1587 635 1 1250 500 Maximum start up current 147 5 4000 2000 5 40...

Page 22: ...Actual rpm 66 32 63 32Bit 4 7 Actual position 68 Note The assignments cannot be changed Note Depending on the PLC used the order of the bytes may be reversed 3 5 Detailed description of bits in the s...

Page 23: ...pply voltage for the motor is above the UMot limit ISDU 179 and under 30V This bit is reset if the supply voltage for the motor is below the UMot limit or above 30V Bit 5 Positioning run aborted This...

Page 24: ...bit is reset when a transferred target position has been reached successfully in the direction of the loop after the start up reference loop Bit 9 Error bit This bit is set if an unrecoverable error...

Page 25: ...power was missing This bit is set if the motor voltage is less than the UMot limit ISDU 179 or above 30V when initiating a positioning run or start up reference loop if the motor voltage leaves the sp...

Page 26: ...Bit 5 Reserved must be set to 0 Bit 6 Run without loop If this bit is set during positioning runs all target positions will be approached directly independently of the current value in ISDU 124 witho...

Page 27: ...lue can be set when the drive is at a standstill Note If a manual run is required during an active positioning run the drive must be stopped reset the release bit The manual run can be started when th...

Page 28: ...reverse by 5 8 of a rotation 3a After reaching the target position this position is compared with the internal absolute encoder position If the deviation is more than 0 9 at the motor shaft a second...

Page 29: ...nd byte 0x00 Note If a positioning run is required during an active manual run the drive must be stopped reset the release bit The positioning can be started when the drive is at a standstill command...

Page 30: ...be set ATTENTION Runs which intentionally involve a run to an obstruction e g reference runs to a block may only be started with a reduced current max operating current 10 of nominal rated current or...

Page 31: ...re reduced accordingly When it is delivered the drive is positioned at 0 the upper limit switch is positioned at 805 200 the lower limit switch positioned at 805 200 This results in a positioning rang...

Page 32: ...ations Set ISDU 120 to 1 611 600 b After assembly the displayed position is 804 000 However the positioning range should point exclusively to the right or top Upper mapping end Position 4029 rotations...

Page 33: ...ection of rotation ISDU 115 actual value assessment of numerator ISDU 116 actual value assessment of denominator ISDU 117 b Referencing value ISDU 119 c Upper mapping end ISDU 120 d Upper limit switch...

Page 34: ...factor is primarily used for setting unlevel resolutions Examples Spindle pitch Resolution Numerator factor Denominator factor 4 mm 1 100 mm 400 400 1 mm 1 100 mm 400 100 2 mm 1 10 mm 400 20 Note Num...

Page 35: ...rrent at end of run ISDU 149 to 0 Set the speed limit rpm for run abort ISDU 143 to 60 Set the time for falling below the speed limit rpm for run abort ISDU 154 to 100 The time during which the drive...

Page 36: ...ease refer to the following table to find the maximum permissible speed Device type PSD401 411 5V PSD401 411 8H 14H PSD403 413 8H 14H PSD422 432 8V PSD422 432 8H 14H PSD426 436 14H PSD428 438 14H Max...

Page 37: ...halstrup walcher GmbH Stegener Stra e 10 79199 Kirchzarten Tel 49 7661 39 63 0 info halstrup walcher com www halstrup walcher com...