Halstrup-walcher PS*3**Mod series Manuale utente

Instruction Manual PSx3xxMod Document 7100.004574 02/2017

Instruction Manual

PSx3xxMod

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.com

Internet: www.halstrup-walcher.com

Instruction Manual PSx3xxMod

Table of Contents

1Safety 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 ..................................................................................................................................5

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

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

2.2 Installation...............................................................................................................................5

2.3 Pin assignment........................................................................................................................6

2.4 Setting the device address and baud rate................................................................................7

2.5 LEDs .......................................................................................................................................8

2.6 Start-up ...................................................................................................................................8

2.7 Modbus ...................................................................................................................................9

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

4Specials .................................................................................................................................23

5Technical Data.......................................................................................................................30

Instruction Manual PSx3xxMod

Purpose of instruction manual

This instruction manual describes the features of the PSx3xxMod positioning system

and provides guidelines for its use.

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

or equipment damage. Every person who uses the devices must therefore read the

manual and understand the possible risks. 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 is state of the art. It complies with the legal requirements of EC

directives. This is shown by the CE mark.

The manufacturer owns the copyright to this instruction manual. It contains technical

data, instructions and drawings detailing the devices’ features and how to use them. It

must not be copied either wholly or in part or made available to third parties.

Instruction Manual PSx3xxMod

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.

PSx3xxMod positioning systems are not stand-alone devices and may only be

used if coupled to another machine.

Always observe the operating requirements —particularly the permissible 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 de-

vice 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

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, 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 materi-

als and materials that can be reused. The device must therefore be sent to a recy-

cling plant when you no longer wish to use it. The environment codes of your particu-

lar country must be complied with.

Instruction Manual PSx3xxMod

1.4 Symbols

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

improper operation could result in the following hazards:

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.

CAUTION! 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 PSx3xxMod positioning system, an intelligent, compact, complete solution for

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

amplifier, control electronics, absolute measuring system and Modbus 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

suitable for automatically setting tools, stops or spindles for wood-processing

equipment, packing lines, printing equipment, filling units and other types of special

machines.

PSx3xxMod positioning systems convert a digital positioning signal into an angle of

rotation.

2.2 Installation

Hollow shaft:

The PSx3xxMod 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 (recommended diameter of the axis is either 8 H9 or 14 H9; wrench torque for

screw: 1.5Nm). 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.

Solid shaft:

The PSx3xxMod is mounted on the machine by fixing the solid shaft with coupling

and intermediate flange to the axis of the machine.

Instruction Manual PSx3xxMod

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

Driving the PSx3xxMod rearward is prohibited (e.g. it’s not allowed to

turn the output shaft by an external force).

2.3 Pin assignment

For the supply voltage either a Binder series 713/763 (A-coded) round, 5-pin plug for

PSE and PSS devices or a 5-pin Harting plug with protective sleeve (HAN4A) for the

PSE34xx devices is located in the housing cover of the PSx3xxMod.

A series 715 (B coded) 5-pin round socket and an optional 5-pin (B encoded) plug are

provided for connecting the Modbus.

A Binder series 718 4-pin plug is used to connect the jog keys (optional).

Supply voltage connector:

Connector for jog keys

round plug

Harting plug

(external top view)

1 +24V motor

2 GND (motor)

3 +24V control unit

4 GND (control unit)

5 housing/pressure balance

1 +24V (output)

2 forward key

3 reverse key

4 ground

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.

Instruction Manual PSx3xxMod

Round plug for 2W-Modbus: Round socket for 2W-Modbus:

(external top view) (external top view)

1 VP +5V (for external termination circuit)

2 D0 (resp. A/A’ resp. TXD0/RXD0 resp. TxD/RxD-N)

3 Common (resp. C/C’, reference potential to VP, for external termination circuit)

4 D1 (resp. B/B’ resp. TXD1/RXD1 resp. TxD/RxD-P)

5 shield

2.4 Setting the device address and baud rate

Removing the protective cap provides access to two rotary switches for setting the

device address at the bus and a 2-pin sliding switch for setting the baud rate.

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

switches are resting in the position 00 the address can be changed via the Modbus

with HR 38.

The delivery setting is 00, the PSx3xxMod reports to the bus with the address 1.

If the switches have been used to set the address (i.e. the switch setting is > 00), this

value cannot be changed via the Modbus.

If the Modbus master uses the broadcast address (= 0), each PSx3xxMod on the bus

will be addressed, regardless of the actual valid address in the device. However, no

answer is being sent by the PSx3xxMod on broadcast messages.

Switch configurations:

PSx30xMod, PSx31xMod-8,

PSx32xMod-14, PSE31xxMod-14

PSx31x-14, PSx33x-14

Setting the baud rate:

Baud rate

OFF

baud rate is set via bus (default = 19200 bps)

OFF

9600 bps

OFF

19200 bps

57600 bps

Instruction Manual PSx3xxMod

If the device names are given without the diameter of the output shaft (8,

14), the relevant information is valid for all offered output shafts (applies

throughout the document).

‘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.

Important: Always reinsert the protective cap after setting the

address. This will prevent dust and contaminants from entering the

device.

2.5 LEDs

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

LED represent the Modbus and the device state.

Yellow LED

Switched ON during frame reception or sending.

Red LED

Switched ON: internal fault

Flashing: Other faults

Green LED

Switched ON: device powered (motor supply)

2.6 Start-up

Positioning sequence (with loop)

The PSx3xxMod differs 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.

2. New position value is smaller than the current value: the device reverses 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 “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 PSx3xxMod

internal gear backlash does not play a role in this case, as position data are acquired

directly at the output shaft.

Instruction Manual PSx3xxMod

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).

Underwater usage of the PSW is not allowd.

2.7 Modbus

The Modbus transmission mode “RTU”is used as the protocol at the Modbus

EIA/TIA-485 interface. The transmission mode “ASCII” is not supported.

The default baudrate is 19200 bps. The supported setting for the serial port is 8-N-2

(8 data bits, no parity, 2 stop bits).

There are up to 32 devices allowed without a repeater.

Implemented function codes:

Function

code (hex)

Sub

code (hex)

Description

0x03

Read holding register

For reading the holding register HR0-HR127

0x06

Write single register

For writing a 16 bit holding register

0x10

Write multiple register

For writing a 32 bit holding register (HR48-49, HR52-53, …) and

for writing the control word + target value (HR32-34) at once.

0x2B

0x0E

Read device identification

Object id

0x00: VendorName

0x01: ProductCode

0x02: MajorMinorRevision

0x03: VendorUrl

0x80: production date, year and week of manufacturing (YYWW)

0x81: serial number

Response is given as ASCII String

There are several combined registers: Two 16-bit holding registers are combined to a

32-bit value. In order to write these 32-bit values, always first write to the high word,

after that to the low word. After a write access to the low word, the internal 32-bit

value will be changed. Between these two write accesses no other write access to

another register may be requested, otherwise the write access to the low word will be

rejected and answered with an exception code.

Instruction Manual PSx3xxMod

Here’s a list of the implemented result codes:

Function

code (dez)

Description

idle (execution succeeded)

illegal function code

illegal data address

illegal data value

slave device failure (execution failed)

Frame-Error

A write request to a reserved register will always return “idle”. It is recommended to

write the value 0. Reading a reserved register returs the value 0. Read or Write

accesses to addresses ≥256 are rejected with an exception code

Table of all Holding Registers:

Reg.

Nr.

Name

Function

Type/

Range

Back

Delivery

State

R/W

Status requests

status word

Bit 0: target position reached

Bit 1: drag error

Bit 2: reverse jog key active

Bit 3: forward jog key active

Bit 4: motor power present

Bit 5: positioning run aborted

Bit 6: drive is running

Bit 7: temperature exceeded

Bit 8: movement opposite loop

direction

Bit 9: error

Bit 10: positioning error (block)

Bit 11: manual displacement

Bit 12: incorrect target value

Bit 13: motor power was missing

Bit 14: positive range limit

Bit 15: negative range limit

16 bit

unsigned

actual rpm

value in rpm

16 bit

signed

actual value High

(Byte 3-2)

current actual position

value in 1/100 mm (for default

settings of numerator HR 45 and

denominator HR 46)

Writing onto this register causes

the current position to be

“referenced” onto the transferred

value

32 bit

signed

R/W

actual value Low

(Byte 1-0)

actual torque

value in cNm

16 bit

unsigned

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