Halstrup-walcher PSE2DN Series Bedienungsanleitung

Instruction Manual

PSE2xxDN

halstrup-walcher GmbH

Stegener Straße 10

D-79199 Kirchzarten, Germany

Phone: +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

Document 7100.004384D 07/2017

Instruction Manual PSE2xxDN

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...................................................................................................................4

2 Device description..................................................................................................................5

2.1 Features...................................................................................................................5

2.2 Installation................................................................................................................6

2.3 Electrical connection ................................................................................................6

2.4 Pin assignment.........................................................................................................6

2.5 Setting the device address and baud rate (Option)...................................................7

2.6 Start-up....................................................................................................................7

2.7 CAN Bus..................................................................................................................8

3 Sequence of positioning .......................................................................................................23

4 Special features....................................................................................................................24

5 Technical data......................................................................................................................30

6 Dimension drawings .............................................................................................................32

Instruction Manual PSE2xxDN

Purpose of instruction manual

This instruction manual describes the features of PSE2xxDN positioning systems and

provides guidelines for their use.

Improper use of these devices or failure to follow these instructions may cause injury

or equipment damage. All individuals responsible for operating these devices must

therefore be properly trained and aware of the hazards. 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 corresponds to the state of the art and meets all legal requirements set

forth in EC directives as evidenced by the CE label.

The manufacturer owns the copyright to this instruction manual. This manual contains

data, instructions and drawings pertaining to the features and usage of these devices;

copying this manual in part or in full or distributing it to third parties is prohibited.

Instruction Manual PSE2xxDN

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.

PSE2xxDN positioning systems are not stand-alone devices and may only be

used if coupled to another machine.

Always observe the operating requirements –particularly the allowed 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

Only technical personnel who are appropriately trained and authorized by the

operator of the facility may assemble the device and set up its electrical connections.

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

materials and materials that can be reused. For this reason the device must be

recycled in accordance with the environmental guidelines of the jurisdiction in

question once it has been taken permanently out of service.

1.4 Symbols

The symbols given below are used throughout this manual to indicate instances when

improper operation could result in the following hazards:

Instruction Manual PSE2xxDN

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.

WARNING: 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 PSE2xxDN positioning system, an intelligent, compact, complete solution for

positioning auxiliary and positioning axes, consists of an DC motor, gear power

amplifier, control electronics, absolute or partially absolute measuring system and

DeviceNet interface.

Variants with partially absolute measuring system (“singleturn encoder”) indicate the

position of the output shaft after power up without executing a movement. Additionally

the number of turns is being loaded out of the flash memory, thus after power up the

correct position of the output shaft will be indicated (assumed the shaft has been

turned for less than half a turn while powered down).

Variants with absolute measuring system (“multiturn encoder”) also indicate the

position of the output shaft after power up without executing a movement. To detect

the number of turns, instead of a flash memory a measurement gearbox is used. So

always the true position is indicated, even if the shaft has been moved while powered

down. This eliminates the need for a time-consuming reference run.

Connecting to a bus system simplifies the wiring. A hollow shaft with adjustable collar

or a solid shaft 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.

PSE2xxDN positioning systems convert a digital positioning signal into an angle of

rotation.

Instruction Manual PSE2xxDN

2.2 Installation

PSE2xxDN with hollow shaft:

The PSE2xxDN 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. 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 (see drawing).

PSE2xxDN with solid shaft:

The PSE2xxDN has to be fixed at the four holes on the bottom plate.

The shaft has to be connected via a clutch to avoid forces caused by tensions that

result on missing alignment from bottom plate and driven shaft.

Never apply force to the housing cover, e.g., for supporting weight.

Driving the PSE2xxDN rearward is prohibited (e.g. it’s not allowed to turn

the output shaft by an external force).

2.3 Electrical connection

Open the cover, put the cable through glands and connect supply and bus to

terminals. The PSE2xxDN has a 8-pin spring-type terminal for cable with a profile of

maximum 1.5 mm2.By turning the cover 90°, 3 different positions of the cable glands

are possible (see drawing).

The maximum torque of the cover screw is 0,6 Nm.

2.4 Pin assignment

Function

GND control + motor

CAN_L

Shield

CAN_H

+24V control

+24V motor

GND control + motor

Case

Instruction Manual PSE2xxDN

2.5 Setting the device address and baud rate (Option)

The rotary switches for setting the device address at the bus and a 2-pin sliding

switch for setting the baud rate are located behind the terminals.

The rotary switches indicate the tens and ones places of the address selected. If the

switches are resting in a position between 64 and 99, the address is set via

DeviceNet (PSE object; class 100, instance 1, attribute 38).

The delivery setting is 99, the PSE2xxDN reports to the bus with the address 63.

If the switches are used to set the address (i.e. the switch setting is < 64), this value

cannot be changed via DeviceNet.

The yellow LED represents the state of the motor supply voltage, the red and green

LEDs represent the DeviceNet state.

Switch configurations:

Setting the baud rate:

OFF

125 kBaud

OFF

500 kBaud

OFF

250 kBaud

baud rate is set via bus (default = 125 kBaud)

‘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.

2.6 Start-up

Positioning sequence (with reference loop)

The PSE2xxDN distinguishes 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.

Instruction Manual PSE2xxDN

2. New position value is smaller than the current value: The device reverses an

additional 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 “Flash

memory or encoder 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 PSE2xxDN

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).

2.7 CAN Bus

A DeviceNet protocol corresponding to ODVA CIP Networks Library Volume One

Edition 3.1 and Volume Three Edition 1.3 is the protocol used for the CAN bus

interface:

A group 2 server with UCMM support

2 explicit connections to the master

4 fixed mapping assemblies

I/O messages via poll, bit strobe and change-of-state/cyclic

Multicast poll is not supported

Heartbeat, default = inactive

DeviceNet LED that displays status as follows:

off:

either the device is switched off or no CAN bus is connected

green, steady:

CAN communication OK, device operational

green, flashing:

either no UCMM connection to the master or no learning run has been

performed

red, flashing:

relatively minor error, at least one I/O connection has timed out

red, steady:

major error, e.g., bus conflict with another station

red-green, flashing:

communication error

Instruction Manual PSE2xxDN

a) Table of implemented attribute entries

The following attributes are part of the PSE object (class ID 100), 1st instance:

Description

Attr.

No.

Function

Range of

value

Back

Delivery

State

R/W

target value

target position to be achieved

value in 1/100 mm (for default settings of

numerator, Attr. 16 and denominator, Attr.

17)

31 bit

R/W

actual value

current actual position

value in 1/100 mm (for default settings of

numerator, Attr. 16 and denominator, Attr.

17)

Writing onto this index number causes the

current position to be "referenced" onto

the transferred value

31 bit

R/W

reference

value

correction factor for the target, actual and

limit switch values

31 bit

yes

R/W

drag error

maximum drag error before the “drag

error" bit is set.

Value given in increments (at a resolution

of 0.5 mm)

20...1000

16 bit

yes

100

R/W

positioning

window

allowed difference between target and

actual values for “position reached” bit

The maximum value that can be set

changes according to the same factor as

the resolution

1...100

16 bit

yes

R/W

actual value

assessment,

numerator

These values can be used to set a

desired user resolution to the drive.

For a numerator factor of 400, the

denominator factor holds the spindle pitch

per resolution

e.g.: spindle pitch 1.5 mm with resolution

1/100 mm:

numerator = 400, denominator = 150

1...10000

16 bit

yes

400

R/W

actual value

assessment,

denominator

1...10000

16 bit

yes

400

R/W

target rpm

posi

maximum rpm to be used for positioning

runs

value in rpm

see table

16 bit

yes

see table

R/W

target rpm

hand

maximum rpm to be used for manual runs

value in rpm

see table

16 bit

yes

see table

R/W

maximum

torque

Applies after completion of start phase

(during start phase the value of Attr. 24

applies); value in cNm

see table

16 bit

yes

see table

R/W

upper limit

maximum/minimum allowed target value

allowed values for signleturn variants:

-223…223

allowed values for multiturn variants:

(upper mapping end - 800…26400 *

denominator / numerator)

31 bit

yes

223

(singleturn)

26400

(multiturn)

R/W

lower limit

31 bit

yes

-223

(singleturn)

800

(multiturn)

R/W

Instruction Manual PSE2xxDN

Name

Attr.

No.

Function

Range of

value

Back

Delivery

State

R/W

maximum

start-up

torque

value in cNm

see table

16 bit

yes

see

table

R/W

time period

for start-up

torque

value in msec

10...1000

16 bit

yes

200

R/W

rpm limit for

aborting run

value in % of the target rpm

10...90

16 bit

yes

R/W

time elapsed

until speed

falls below

rpm limit for

aborting run

value in msec

50...500

16 bit

yes

200

R/W

length of loop

minimum number of increments which the

drive moves in a pre-defined direction

when approaching a target position

value in increments (value = 0 no loop)

0.025…1

rotations

(10…400

at del.

state) or

32 bit

yes

250

R/W

maximum

rpm, counter-

clockwise

value in rpm

see table

16 bit

yes

see

table

R/W

maximum

rpm,

clockwise

value in rpm

see table

16 bit

yes

see

table

R/W

step width for

single step

number of increments when activating a

jog run bit for a short-time

1...100

16 bit

yes

R/W

idle period for

manual run

Span of time which a jog run bit must be

activated in order to begin a manual run

value in steps of 5 msec

20...2000

16 bit

yes

200

R/W

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