halstrup-walcher PSD4 Series, Description

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

Page 2: ...copied 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...

Page 3: ...General 7100 006434_Bus description_PSD4xx_IO_J_ENG 3 2022 09 13 Table of contents...

Page 4: ...into a field bus system Technical data for the electrical connections of your drive can be found in the electrical connector and pin assignment description on the website www halstrup walcher de techn...

Page 5: ...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 specific local assembly regulations...

Page 6: ...e search for PSD and select your type click on Instruction manuals and download the connector and pin assignment offered for your bus system 1 2 Grounding the drive The device must be grounded before...

Page 7: ...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 communication available Yellow LED ye...

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: ...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 Product name 18 Dependent on device type e g P...

Page 10: ...oggle bit Reserved Motor power present Positioning run aborted Drive is running Temperature exceeded Movement opposite loop direction Error Positioning error block Manual displacement Incorrect target...

Page 11: ...o be referenced to the transferred value Writing is only possible when stationary 31 bit No R W Actual current 69 Actual current in mA 16 bit R Max actual current during last run 70 Max actual current...

Page 12: ...e version 79 Software version number 16 bit R Number of steps in second positioning 82 Number of steps that the drive moved in the second positioning Thus it can be evaluated if there was a step loss...

Page 13: ...Available additional functions 85 The value indicates which additional functions are available The individual bits indicate the availability of a certain additional function If the bit is set the cor...

Page 14: ...n 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 axis is only driven when the...

Page 15: ...J_ENG 15 2022 09 13 Designation ISDU no Function Range of values Back up Delivery state R W Run commands Target value 112 Target position Value in 1 100 mm for default values of numerator ISDU 116 and...

Page 16: ...or a numerator factor of 400 the spindle pitch resolution is stated in the denominator factor e g spindle pitch 1 5 mm with resolution 1 100 mm numerator 400 denominator 150 Writing is only possible w...

Page 17: ...position 4 029 rotations For models with an auxiliary gearbox the range of values is reduced in accordance with the gear ratio see chapter 3 3 Ineffective in modulo mode Writing is only possible when...

Page 18: ...ed in accordance with the gear ratio see chapter 3 3 Ineffective in modulo mode 31 bit Yes See chap 3 3 R W Positioning window 123 Permissible difference between target and actual values for the posit...

Page 19: ...the direction of the loop positive loop run to larger values negative loop run to smaller values Value range for standard settings of numerator ISDU 116 and denominator ISDU 117 4 000 10 steps and 10...

Page 20: ...al runs 138 Maximum target speed 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 second See chap 3 3 16 bit Yes See chap 3 3 R W De...

Page 21: ...chap 3 3 R W Maximum operating current 148 in mA See chap 3 3 16 bit Yes See chap 3 3 R W Max holding current at end of run 149 in mA See chap 3 3 16 bit Yes See chap 3 3 R W Maximum holding current...

Page 22: ...n 157 Value in ms 0 1000 16 bit Yes 200 R W UMot filter 161 Average time for UMot voltage measurement in steps of 1 ms 100 1000 16 bit Yes 100 R W Communi cation timeout 162 Value in ms If the value i...

Page 23: ...values with blocking zone 0 5 8 bit Yes 0 R W Upper modulo position 185 Highest position of the modulo range When this position is reached the actual position jumps to the value lower modulo position...

Page 24: ...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 parameters in EEPROM The drive then p...

Page 25: ...rent position a denominator numerator Default value 806 400 806 400 198 498 806 400 806 400 Upper limit 121 Min value upper mapping end a denominator numerator Max value upper mapping end 1200 denomin...

Page 26: ...403 413 8H 14H PSD 422 432 8V PSD 422 432 8H 14H Name ISDU no Range of values Delivery state Max operating current 148 5 2000 750 5 2000 750 5 2000 750 5 4000 1500 5 4000 1500 Max holding current at e...

Page 27: ...pper mapping end 1200 denominator numerator Default value 387 600 254 800 195 483 805 200 805 200 197 298 Variable a for formula see above 120 122 776 400 510 800 392 166 1 611 600 1 611 600 395 797 T...

Page 28: ...ta has been placed before the Command Byte and Target Position This makes it possible for some Control Units to continue to use function blocks that have already been developed and if necessary to add...

Page 29: ...ual run if an invalid target value has been transferred as a result of manual rotation when not in operation Bit 1 Reserved Bit 2 Toggle bit This bit is set if bit 13 of the command byte is set This b...

Page 30: ...dle is not yet eliminated during manual runs in the direction opposite that of the positioning run a subsequent manual run in the direction of the positioning run will no longer delete this bit during...

Page 31: ...outside the range of the limit switches caused e g by the current referencing value ISDU 119 if a transferred target value lies within the range of the limit switches but would leave the specified ra...

Page 32: ...if a limit is modified such that the current position lies beyond it if when at a standstill the drive is moved to a position beyond the range defined by the limit switches by an external force This b...

Page 33: ...sitioning run can be carried out to the target value last transferred and marked as valid Bit 3 Reserved must be set to 0 Bit 4 Release Run commands will only be executed if this bit is set This bit m...

Page 34: ...eceived the drive writes the value of this bit in status byte bit 2 The control unit can recognize when new process data are processed by the drive Bit 14 Error Acknowledge with a 0 1 edge of this bit...

Page 35: ...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 the drive is at a standstill The foll...

Page 36: ...it will first 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 s...

Page 37: ...oduced by the driven spindle is NOT eliminated For models with an integrated auxiliary gearbox in this case also the internal gear backlash does influence the positioning accuracy 4 2 3 Manual run The...

Page 38: ...un command is rejected and bit 12 in the status word Incorrect target value is set In this case a currently active run is aborted For all runs the maximum acceleration from ISDU 139 and the maximum de...

Page 39: ...in the control word is set and ISDU 126 is set to 1 it will again attempt to run to the previously sent target value readjustment The device does not attempt to readjust if rotated in the direction t...

Page 40: ...pindle into the desired position run the drive to the appropriate position with the adjustable collar open and only then close the adjustable collar Examples a Bring the axle to be positioned into the...

Page 41: ...upper mapping end 2 The numbers of increments or position values indicated relate to the following settings which correspond to the delivery state a Referencing value ISDU 119 0 b Actual value of num...

Page 42: ...h the referencing value ISDU 119 a shift of the entire value range can be achieved The referencing process affects all transferred values i e the target value actual value upper mapping end and upper...

Page 43: ...e PSD 401 411 422 432 480 490 PSD 403 413 481 491 PSD 424 434 PSD 426 436 PSD 428 438 Measurement range of the absolute measuring system 4 032 rotations 992 rotations 1 944 rotations 1 280 rotations 9...

Page 44: ...e entire possible positioning range is at values 0 With standard scaling numerator denominator 400 i e 1 step 0 9 and referencing value 0 this special case results if the relevant value from the follo...

Page 45: ...s using the parameter upper mapping end example for a PSD401 411 PSD422 432 or PSD480 490 Here the upper mapping end was decreased from the value 806 400 to 581 200 Consequently a higher proportion of...

Page 46: ...m 4 032 rotations 992 rotations 1 944 rotations 1 280 rotations 983 rotations Max possible positioning range 4 026 rotations 986 rotations 1 938 rotations 1 274 rotations 977 rotations Upper mapping e...

Page 47: ...ry gearbox the measurement range at the output shaft is reduced accordingly Together with the safety margins at the upper and lower end of the measurement range the following value ranges result for t...

Page 48: ...safety margin of three rotations at both ends of the measurement range In our case these 4 026 rotations are to be divided in such a way that the drive can run 10 rotations 10 5 000 steps 50 000 steps...

Page 49: ...of rotation of the output shaft the position values decrease 2 Setting numerator and denominator The numerator and denominator determine the number of steps into which one rotation of the output shaf...

Page 50: ...ping end The parameter defines the location of the maximum possible positioning range in relation to the actual position 5 Setting upper and lower limits If necessary the maximum possible positioning...

Page 51: ...Numerator factor Both factors are set to a value of 400 by default resulting in a resolution of 0 01 mm at a spindle pitch of 4 mm The denominator factor is a simple way to set the spindle pitch and r...

Page 52: ...he turntable The distance after which the arrangement is back in the initial state is called the modulo width The modulo width is determined by specifying the parameters Upper modulo position and Lowe...

Page 53: ...actual value jumps to the value Upper modulo position 1 The maximum run distance corresponds to the distance Modulo width 1 3 Shortest distance In this mode the device selects the direction required...

Page 54: ...t is performed in modulo mode Manual run in modulo mode When modulo mode is activated i e modulo mode 0 the drive moves exactly one modulo width starting from the actual position This applies regardle...

Page 55: ...SDU 138 Target speed for manual runs ISDU 139 Acceleration 1 ISDU 141 Deceleration 1 ISDU 143 Speed limit for run abort ISDU 147 Max start up current ISDU 148 Max operating current ISDU 149 Max holdin...

Page 56: ...run as planned It should then not start any new positioning run until a connection has been re established This response is activated when ISDU 162 Communication timeout is set to 0 2 If a positioning...

Page 57: ...o 100 The time during which the drive tries to overcome the obstruction decreases with these reduced values the positioning run is aborted if the speed rpm remains below 60 of the target speed for lon...

Page 58: ...n the permissible speed will damage the internal protection diode and the PSD4xx will be defective Please refer to the following table to find the maximum permissible speed Device model PSD 401 411 5V...

Page 59: ...alcher com www halstrup walcher com 5 Technical data Technical data and drawings can be found in the current data sheet on the website www halstrup walcher de technicaldocu Please search for PSD and s...