halstrup-walcher PSD4 Series User manual

Bus description
PSD4xx positioning system –CANopen

General
7100.006424_Bus description_PSD4xx_CA_H_ENG 208.04.2020
halstrup-walcher GmbH
Stegener Straße 10
79199 Kirchzarten
Tel. [phone]
[email protected]
www.halstrup-walcher.com
©2020, Kl
The manufacturer owns the copyright to this instruction manual. It contains technical data,
instructions and drawings detailing the device’s features and how to use them. It must not
be 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 the safety information provided. This instruction
manual should be available at all times. Please contact the manufacturer if you do not
understand any part of the instructions.
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.

General
7100.006424_Bus description_PSD4xx_CA_H_ENG 3 08.04.2020
Table of contents
1General..............................................................................................................4
2Start-up .............................................................................................................5
2.1 Set the device address...............................................................................6
2.2 Set the baud rate........................................................................................7
2.3 CAN terminating resistor...........................................................................8
2.4 Switch the device on..................................................................................9
3Description of CANopen..................................................................................10
3.1 Status LEDs...............................................................................................10
3.2 Table of entries implemented from object dictionary............................11
3.3 Table of device-dependent Min., Max. and Default values ...................21
3.4 Define PDOs..............................................................................................23
3.5 Detailed description of status bits...........................................................23
3.6 Detailed description of control bits.........................................................27
4Functions.........................................................................................................28
4.1 Types of positioning ................................................................................28
4.1.1 Positioning run with loop...................................................................28
4.1.2 Positioning run without loop.............................................................28
4.1.3 Manual run..........................................................................................29
4.2 Start Positioning run................................................................................29
4.3 Velocity, acceleration and deceleration..................................................30
4.4 Maximum start-up and operating current..............................................30
4.5 Response of the drive if it encounters an obstacle ................................30
4.6 Response of the drive if it is turned manually (adjustment function)...31
4.7 Calculate the absolute physical position ................................................32
4.8 Set the spindle pitch ................................................................................35
4.9 Abort the run when the master fails.......................................................35
4.10 Reference runs......................................................................................36
4.11 Run drive in reverse..............................................................................37
5Technical data .................................................................................................37
6Notes ...............................................................................................................38

General
7100.006424_Bus description_PSD4xx_CA_H_ENG 408.04.2020
1 General
This bus description 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 and pin assignment description on the website: www.halstrup-
walcher.de/technicaldocu

Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 5 08.04.2020
2 Start-up
WARNING Risk of injury if used inappropriately.
The device must be installed by trained technical
personnel.
WARNING Risk of burns due to hot drive.
The drive can become very hot during operation.
Allow the drive to cool before touching it.
WARNING Risk of crushing due to rotary movement.
Do not reach into the working area of the drive when it is
still turning.
The user/operator must ensure appropriate protective
measures 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 specific
local assembly regulations.
If the supply lines have not been delivered together with
the device, please select suitable cables for the application.
Do not operate the positioning unit if the supply lines are
noticeably damaged.
WARNING Risk of injury. High contact voltages can occur in the case
of malfunctions.
This can be prevented by grounding.
ATTENTION The drive must be protected against excessive heating.
The user/operator must ensure appropriate protective measures
are taken.
ATTENTION Never apply force to the housing of the drive, e.g. for supporting
weight.

Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 608.04.2020
2.1 Set the device address
You can assign a unique device address using the address switch.
Note: If these address switches are set to 00, the address can be set via the CAN
bus with SDO #2026.
The device controls and status elements are located under the sealing plug. You will need a
non-conducting pointed object to adjust the switches (e.g. a screwdriver).
Set the tens and units on the respective address switches.
Turn the device off and on again or use the reset command via the control unit to accept the
new setting. The device address is now set and the setting is active.
Note: The delivery state is 00; the PSD4xx identifies itself using address 1 at the
bus.
Note: If you set the address using the switches (i.e. switches set to > 0) you
cannot change this value using the CAN bus.
Note: The yellow LED shows the motor voltage status, the red and green LEDs
show the CANopen status.
Note: Always re-attache the protective cap after setting the address. This will
prevent dust and contaminants from entering the device.

Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 7 08.04.2020
2.2 Set the baud rate
You can set the baud rate using the sliding switches S2-S4 (DIP switch 2-4).
The device controls and status elements are located under the sealing plug. You will need a
non-conducting pointed object to adjust the switches.
Please refer to the following table to find the correct baud rate settings and adjust the sliding
switches S2-S4 (DIP switch 2-4) accordingly:
Table: Baud rate:
S2
S3
S4
Description
OFF
OFF
OFF
Set baud rate via bus (default = 500 kBaud)
ON
OFF
OFF
20 kBaud
OFF
ON
OFF
50 kBaud
ON
ON
OFF
125 kBaud
OFF
OFF
ON
250 kBaud
ON
OFF
ON
500 kBaud
OFF
ON
ON
800 kBaud
ON
ON
ON
1000 kBaud
Turn the device off and on again or use the reset command via the control unit to accept the
new setting.
Note:
Maximum
bus length
Baud rate
250 m
250 kBaud
100 m
500 kBaud
Note: If the sliding switches S2-S4 are set to OFF, the baud rate is set via the
CAN bus with SDO #2027.

Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 808.04.2020
Note: If at least one sliding switch S2-S4 is ON, the baud rate cannot be changed
via the CAN bus.
2.3 CAN terminating resistor
You can use the sliding switch S1 (DIP switch 1) to set the CAN terminating resistor (120 Ω).
Note: For a line topology, the bus termination is at both ends of the network.
The device controls and status elements are located under the sealing plug. You will need a
non-conducting pointed object to adjust the switches (e.g. a screwdriver).
Please refer to the following table for the terminating resistor settings and adjust the sliding
switch S1 (DIP switch 1) accordingly:
S1
Description
OFF
Deactivate the terminating resistor
ON
Activate the terminating resistor

Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 9 08.04.2020
2.4 Switch the device on
To turn on the PSD4xx, install the PSD in the correct position according to the assembly
instructions. You can find information about installing the drive as well as electrical
connections and pin assignments at the following link: www.halstrup-
walcher.de/technicaldocu
The PSD4xx must be grounded before the power supply cable is connected. The grounding
cable must be connected to the correct position on the PSD4xx and to the ground potential
(e.g. machine base).
Note: The positioning system should be connected to the machine base using the
shortest possible cable. The minimum wire cross-section of the grounding cable is
1.5 mm².
Once the PSD has been grounded, it can be connected to the power supply and the
communication interface. The drive is now ready for operation.
Grounding screw

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 10 08.04.2020
3 Description of CANopen
The CAN bus interface uses the CANopen protocol in accordance with CiA DS 301 Version
4.02:
One transmit and one receive SDO per device
One asynchronous transmit and receive PDO, active by default
One heartbeat object every 500 ms
3.1 Status LEDs
The following LEDs are located under the sealing plug:
Green LED (gn) = RUN LED in accordance with CANopen:
Single flashes:
CAN stop
Continuous flashing:
CAN preoperational
Continuously illuminated:
CAN operational
Red LED (rd) = ERROR LED in accordance with CANopen:
Single flashes:
CAN-transmitter or -receiver has reached its warning limit
Double flashes:
Guard event has occurred
Triple flashes:
Sync failure
Continuously
illuminated:
CAN bus OFF:
Yellow LED (ye) = Display actuator voltage:
Off:
Motor voltage too low or too high

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 11 08.04.2020
On:
Motor voltage OK
Flashing at 0.5 Hz
Motor voltage OK and drive in the delivery state (for parameter
values and axle positions)
3.2 Table of entries implemented from object dictionary
Designation
Index
no.
Function
Range
of
values
Back
up?
Delivery
state
R/W
Device type
1000
Returns a “0” when read
0
0
R
Error
register
1001
Bit 0: General error
Bit 4: Communication error
8 bit
0
R
Error list
1003
Sub index 0: No. of indices
Sub-index 1 and 2: last emergency
errors occurred
8 bit
32 bit
0
0
R
R
Sync ID
1005
COB ID for the sync command
32 bit
No
80h
R/W
Comm
cycle
1006
Communication cycle time
32 bit
No
0
R/W
Sync
window
1007
Synchronous window time
32 bit
No
0
R/W
Guard time
100C
Guard time in ms
0 = off
16 bit
No
0
R/W
Lifetime
100D
Lifetime factor
8 bit
No
0
R/W
Emcy ID
1014
COB ID for emergency message
32 bit
80h +
device
address
R
Emcy
inhibit
1015
Inhibit time for emergency message
16 bit
No
0
R/W
Consumer
heartbeat
1016
Sub index 0: No. of indices (= 2)
Sub index 1 and 2:
Bit 15-0: Heartbeat time in ms
Bit 23-16: Node ID of producer
8 bit
32 bit
No
2
0
R
R/W
Heartbeat
producer
1017
Cycle time for heartbeat via
PSD4xx
0 = off
16 bit
No
500
R/W

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 12 08.04.2020
Designation
Index
no.
Function
Range
of
values
Back
up?
Delivery
state
R/W
Identity
1018
Sub index 0: No. of indices (= 4)
Sub 1: Vendor-ID (= 0x000002D8)
Sub 2: Product code
(= 0x30313334)
Sub 3: Revision number (= 0)
Sub 4: Serial number (= 0)
8 bit
32 bit
32 bit
32 bit
32 bit
4
R
R
R
R
R
Receive
PDO 1
communica-
tion
parameter
1400
Sub index 0: No. of indices
Sub 1: COB ID of this PDO
8 bit
32 bit
No
0
200h +
device
address
R
R/W
Sub 2: PDO type
8 bit
No
0xFF
R/W
Receive
PDO 1
mapping
1600
Sub index 0: No. of indices (= 3)
Sub 1: 0x20240010
Sub 2: 0x00000010
Sub 3: 0x20010020
8 bit
32 bit
32 bit
32 bit
3
R
R
R
R
Transmit
PDO 1
communica-
tion
parameter
1800
Sub index 0: No. of indices
Sub 1: COB ID of this PDO
8 bit
32 bit
No
0
180h +
device
address
R
R/W
Sub 2: PDO type
Sub 3: Inhibit time
8 bit
16 bit
No
No
0xFF
1000
(100ms)
R/W
R/W
Sub 5: Event time
16 bit
No
0
R/W
Transmit
PDO 1
mapping
1A00
Sub index 0: No. of indices (= 3)
Sub 1: 0x20250010
Sub 2: 0x20300010
Sub 3: 0x20030020
8 bit
32 bit
32 bit
32 bit
3
R
R
R
R

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 13 08.04.2020
Designation
Index
no.
Function
Range
of
values
Back
up?
Delivery
state
R/W
2000:
0...9
10 open registers
32 bit
Yes
0
R/W
Target value
2001
Target position
Value in 1/100 mm (for default
values of counters, SDO #2010 and
denominator SDO #2011)
31 bit
No
0
R/W
Actual value
2003
Current actual position, value in
1/100 mm (for default values of
counters, SDO #2010 and
denominator SDO #2011)
Writing to this index number causes
the current position to be
“referenced” to the transferred
value
31 bit
No
R/W
Referencing
value
2004
Correction factor for the target,
actual and limit switch values
31 bit
Yes
0
R/W
Positioning
window
2006
Permissible difference between
target and actual values for the
“position reached” bit
The maximum setting value
changes according to the same
factor as the resolution
For default settings of numerator
#2010 and denominator #2011:
1…100 steps
0.025...
0.25
rotat-
ions
16 bit
Yes
2
R/W

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 14 08.04.2020
Designation
Index
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Actual
value
assess-
ment,
numerator
2010
These values allow you to apply any
resolution to the drive that you wish.
For a numerator factor of 400, the
spindle pitch/resolution is stated in
the denominator factor
e.g.: Spindle pitch 1.5mm with
resolution 1/100 mm:
numerator = 400, denominator = 150
1...
10000
16 bit
Yes
400
R/W
Actual
value
assess-
ment, de-
nominator
2011
1...
10000
16 bit
Yes
400
R/W
Target rpm
Posi
2012
Maximum rpm to be used for
positioning runs; value in rpm
see
chap. 3.3
16 bit
Yes
see
chap. 3.3
R/W
Target rpm
Manual
2013
Maximum rpm to be used for manual
runs; value in rpm
see
chap. 3.3
16 bit
Yes
see
chap. 3.3
R/W
Maximum
current
2014
Applies after the end of the start-up
phase (during start-up phase, the
value #2018 applies); value in mA
see
chap. 3.3
16 bit
Yes
see
chap. 3.3
R/W
Upper limit
2016
Maximum permitted target position
Permissible values: (Upper mapping
end - 1200..1611600 *
denominator/numerator)
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the gear
ratio.
31 bit
Yes
see
chap. 3.3
R/W
Lower limit
2017
Minimum permissible target position
Permissible values: (Upper mapping
end - 1200..1611600 *
denominator/numerator)
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the gear
ratio.
31 bit
Yes
See
chap. 3.3
R/W
Max. start-
up current
2018
Value in mA
See
chap. 3.3
16 bit
Yes
See
chap. 3.3
R/W
Time period
for start-up
current
2019
Value in ms
10...
1000
16 bit
Yes
200
R/W

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 15 08.04.2020
Designation
Index
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Rpm limit for
aborting run
201A
Value in % of the target rpm
30...90
16 bit
yes
30
R/W
Time
elapsed until
speed falls
below rpm
limit for
aborting run
201B
Value in msec
50...500
16 bit
yes
200
R/W
Acceleration
201C
Value in rpm per sec.
see
chap. 3.3
16 bit
Yes
see
chap. 3.3
R/W
Deceleration
201D
Value in rpm per sec.
see
chap. 3.3
16 bit
Yes
see chap.
3.3
R/W
Loop length
201F
Minimum number of increments, in
which the drive runs to a target in a
specified direction.
Value in increments (0 no loop)
The sign determines the direction of
the loop:
Positive loop to larger values
Negative loop to smaller values
Range of values at the default
settings of the numerator #2010
and denominator #2011: -4000…-
10 increments and 10...4000
increments and 0
0.025
…10
rotations
or
-0.025
…-10
rotations
or
0
±31 bit
Yes
250
incre-
ments
R/W

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 16 08.04.2020
Designation
Index
no.
Function
Range
of
values
Back
up?
Delivery
state
R/W
Control word
2024
Bit 0: Manual run to larger
values
Bit 1: Manual run to smaller
values
Bit 2: Assign target value
(when transferring a
target value with PDOs,
the positioning run is
only started if this bit is
set.)
Bit 4: Release: The axle will
only run if this bit is set.
Bit 6: Run without loop
Bit 10: Adjustment release
Bit 13: Togglebit
All other bits are reserved and
must be set to 0
16 bit
No
0
R/W
Status
2025
Bit 0: Target position reached
Bit 1: reserved
Bit 2: Togglebit
Bit 3: reserved
Bit 4: Power available to
motor
Bit 5: Positioning run aborted
Bit 6: Drive is running
Bit 7: Temperature too high
Bit 8: Movement opposite to
loop direction
Bit 9: Error
Bit 10: Positioning error
(obstruction)
Bit 11: Manual rotation
Bit 12: Incorrect target value
Bit 13: Motor power not
available
Bit 14: Positive range limit
Bit 15: Negative range limit
0..FFFFh
16 bit
R
CAN
address
2026
Address of the drive (if the
address is set via the CAN bus)
If the address switches are used
(i.e. switch position set to > 0),
this value cannot be changed.
1...127
16 bit
Yes
1
R/W

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 17 08.04.2020
Designation
Index
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Baud rate
2027
0: 20 kBaud 4: 500 kBaud
1: 50 kBaud 5: 800 kBaud
2: 125 kBaud 6: 1000 kBaud
3: 250 kBaud
If the baud rate switch is in use
(i.e. switch position not set to
OFF-OFF-OFF), this value
cannot be changed.
0...6
16 bit
yes
4
R/W
Upper
mapping
end
2028
Definition of the positioning
range relative to the absolute
value encoder
Permissible values:
(current position + 3
revolutions) …
(current position + 4029
revolutions)
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the
gear ratio.
31 bit
Yes
see
chap. 3.3
R/W
Maximum
holding
current
202B
Holding torque at standstill in
mA
see
chap. 3.3
16 bit
Yes
see
chap. 3.3
R/W
Direction of
rotation
202C
0: Clockwise
(when looking at the output
shaft)
1: Counterclockwise
0 or 1
16 bit
Yes
0
R/W
Actual rpm
2030
Current speed in rpm
±15 bit
R
Max. actual
current
during last
run
2031
Max. actual current during last
run in mA
16 bit
R
Actual
current
2033
Actual current in mA
16 bit
R
U control
203A
Current supply voltage to
control unit, in 0.1 V
16 bit
R
U motor
203B
Current supply voltage to
motor, in 0.1 V
16 bit
R

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 18 08.04.2020
Designation
Index
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
UMot limit
203C
Voltage limit for motor power bit
(in 0.1 V)
180...240
16 bit
Yes
185
R/W
Umot filter
203D
Average time for measuring
Umot voltage; given in 5 msec
increments
100...
1000
16 bit
Yes
100
R/W
Temperature
limit
203E
Upper temperature limit in °C
10...80
16 bit
Yes
80
R/W
Device
temperature
203F
Internal device temperature in
°C
±15 bit
R
Production
date
2040
Year and week of manufacture
(given as an integer)
YYWW
16 bit
R
Serial
number
2041
Device serial number
0...65535
16 bit
R
Max. holding
current at
completion
of run
2042
Max. holding current at
completion of run; in mA
see
chap. 3.3
16 bit
Yes
see
chap. 3.3
R/W
Duration of
max. holding
current at
completion
of run
2043
Duration of max. holding
current at completion of run; in
ms
0..2000
16 bit
Yes
200
R/W
Device type
204D
One of the following device
types from the PSD series (the
last 2 digits of the 5-digit
numbers refer to the diameter
of the output shaft):
40105, 40108, 40114, 40308,
40314, 41105, 41108, 41114,
41308, 41314, 42208, 42214,
42614, 42814, 43208, 43214,
43614, 43814
16 bit
R
Version
204E
Software version number
16 bit
R

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 19 08.04.2020
Designation
Index
no.
Function
Range
of
values
Back
up?
Delivery
state
R/W
Delivery
state
204F
Writing a “-5”:
Resets the drive (corresponds to
switching the drive off and on
again)
Writing a “-4”:
Resets all parameters to the
delivery states (CAN address
SDO #2026 to 1, baud rate
SDO #2027 to 500 kBaud),
without saving the parameters in
EEPROM, without a start-up loop
and without positioning in the
middle of the measurement range.
Writing a “-3”:
Resets all parameters to the
delivery states (without changing
the CAN address and baud rate),
without saving the parameters in
EEPROM, without a start-up loop
and without positioning in the
middle of the measurement range.
Writing a “-2”:
Resets all parameters to the
delivery states (CAN address
SDO #2026 to 1, baud rate
SDO #2027 to 500 kBaud),
without saving the parameters in
EEPROM. The drive then
performs a start-up loop and
positions itself in the middle of the
measurement range.
Continues on next page
-5…1
or 1
±15 bit
No
R/W

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 20 08.04.2020
Delivery
state
Writing a “-1”:
Resets all parameters to the
delivery states (without changing
the CAN address and baud rate),
without saving the parameters in
EEPROM. The drive then
performs a start-up loop and
positions itself in the middle of the
measurement range.
Writing a “1”:
Saves the parameter in EEPROM
Writing a “0”:
No action
Reading after booting:
0 Memory content correct
≠ 0 Memory content incorrect
Reading after saving:
0 Saving successfully
completed
≠ 0 Saving is not yet complete
or terminated with errors (saving
can take up to 2000ms)