halstrup-walcher PS 3 EC Series User manual

Document 7100.004474
Instruction Manual
PSx3xxEC
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten
Tel.: [phone]
Fax: [phone]
E-Mail: [e-mail]
Internet:www.halstrup-walcher.com

Instruction Manual PSx3xxEC
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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 Disassembly.........................................................................................................7
2.4 Powering the device.............................................................................................7
2.5 Pin assignment.....................................................................................................8
2.5.1 Supply voltage connector.....................................................................................8
2.5.2 Round socket for the bus .....................................................................................8
2.5.3 Hybrid bushing for supply and bus.......................................................................8
2.5.4 Connector for jog keys .........................................................................................9
2.5.5 Connector-option -2Y-..........................................................................................9
2.5.6 Electrical grounding..............................................................................................9
2.6 Setting the device address...................................................................................9
2.7 LEDs..................................................................................................................10
2.8 Start-up..............................................................................................................11
2.8.1 Positioning sequence (with loop)........................................................................11
2.8.2 Positioning sequence (without loop)...................................................................11
2.8.3 Manual run.........................................................................................................12
2.9 EtherCAT interface with CoE protocol (CANopen over EtherCAT).....................12
2.9.1 Table of entries implemented from object dictionary...........................................13
2.9.2 Table of rated speed and torque values for various models of gears..................18
2.9.3 PDO definition....................................................................................................20
2.9.4 Detailed description of the status bits.................................................................20
2.9.5 Detailed description of control bits......................................................................23
3Sequence of positioning..............................................................................................24
3.1 Positioning run (with loop)..................................................................................24
3.2 Positioning run (without loop).............................................................................25
4Special features ...........................................................................................................25
4.1 Speed, acceleration and deceleration ................................................................25
4.2 Maximum starting torque and maximum torque..................................................25
4.3 Response of drive in case of block.....................................................................26
4.4 Response of drive in case of manual displacement (readjustment)....................26
4.5 Calculating the absolute physical position..........................................................26
4.6 Using actual value assessment factors to set the spindle pitch ..........................29
4.7 Drag error monitoring.........................................................................................29
4.8 Drag error correction..........................................................................................29
4.9 Abort run when the master fails..........................................................................29
4.10 Devices with “Jog keys” option ...........................................................................30
4.11 Devices with optional snap brake.......................................................................31
4.12 Devices with optional holding brake ...................................................................32
4.13 Reference runs...................................................................................................32
4.14 Reverse drive.....................................................................................................33
5Technical Data..............................................................................................................34
5.1 Ambient conditions.............................................................................................34
5.2 Electrical data ....................................................................................................34
5.3 Physical data......................................................................................................35
6Certificate of Conformity.............................................................................................36

Instruction Manual PSx3xxEC
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Purpose of instruction manual
This instruction manual describes the features of the PSx3xxEC 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.
© 2011, 2015, 2016, 2017, 2018, 2019
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.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.

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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.
PSx3xx 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.

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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.
CAUTION! This indicates possible hot surface
2 Device description
2.1 Features
The PSx3xx 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 EtherCAT 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.
PSx3xx positioning systems convert a digital positioning signal into an angle of
rotation.
2.2 Installation
Hollow shaft:
The PSx3xx is mounted on the machine by sliding it with the hollow shaft onto the
spindle to be driven and fixing it with the clamping ring (recommended shaft diameter
8 h9 or 14 h9; tightening torque of the clamping ring screw with 3 mm hexagon
socket: 1.5 Nm).
The depth of the hollow bore is 20 mm. For optimum operation, the pin of
the shaft to be driven should correspond to this depth. Depending on the
operating situation, significantly shorter pins (< 16 mm) may cause
damage to the PSx3xx. When mounting the PSx3xx, it should only be
pushed on until the foam rubber plate lies evenly on the bottom of the
machine or is compressed to approx. half its thickness. Under no
circumstances may the PSx3xx "hard" be screwed to the machine
without an air gap.

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The rotation lock is made via the pin (in the picture below the hollow shaft) into a
suitable bore as rotary torque support. This hole must be slightly larger than the
diameter 6 h9 of the pin. An oblong hole or slot with a slightly larger width
(recommended: 6.05...6.10 mm) than the dimension of the pin diameter is optimal.
The backlash when changing the direction of rotation has a direct influence on the
positioning accuracy and can lead to damage to the PSx3xx with very large backlash
(a few mm) due to the impact load.
The PSx3xx must have a little gap on all sides when mounted, as it can
move axially and/or radially during positioning if the hollow shaft and
solid shaft are not 100% aligned. This "staggering" is not a defect of
the PSx3xx and also has no influence on the function, as long as it can
move freely.
Versions with higher torques (from 10 Nm):
Here the force connection is made via a feather key DIN 6885-A5x5x12.
The clamping ring is not freely rotatable but consists of two halves, the fixed part of
the hollow shaft and the loose clamping clamp. The keyway is located in the half that
is fixed to the output shaft. When sliding onto the shaft to be driven with the key
inserted, its angular position must be aligned with the keyway in the PSx3xx. After
pushing on, the PSx3xx is fixed with the 2 screws in the flexible clamping ring half.
Make sure that both screws are tightened as equally as possible (tightening torque of
the screws with 3 mm hexagon socket: 1.5 Nm)..
The information on torque support applies in the same way as described above.
For PSE30x-14, PSE32x-14, PSS30x-14 and PSS32x-14, the position of the anti-
rotation lock can be set at greater distances by unscrewing the base cover, turning it
180° and then screwing it back on. When screwing on, make sure that the seal is
correctly inserted in the floor.
For torques > 5 Nm we recommend to choose the greater distance.

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Solid shaft:
The PSx3xx is installed on the machine by mounting the drive to the axis to be driven
using a coupling and an intermediate flange.
Under no circumstances may the housing cover be used for the
purpose of the transmission of force.
Underwater usage of the PSW is not allowed
Please consider that the device might have
a hot surface during operation!
2.3 Disassembly
To remove the PSx3xx from the shaft, release the clamp (for versions with hollow
shaft the clamping ring) and pull the PSx3xx off the shaft. If possible, the PSx3xx
should only be pulled axially. Excessive bending back and forth can damage the
output shaft!
For versions with brake, it is essential to observe the instructions in sections 4.9 and
4.10!
2.4 Powering the device
For motor power use a single fuse with max. 3,5 A for each PSx3xx.
For motor power use a single fuse with max. 10 A for each PSE34xx.
For control power you can use a fuse with max. 2,0 A, so it is
possible to power up to 10 units parallel with one fuse.
It is strongly recommended to separate power cables to the PSx3xx
from other power cables that might have dangerous voltage.

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2.5 Pin assignment
Please take care that the mating connectors and the used cables
match the connectors in the PSx3xx and are mounted correctly,
in order to achieve the protection class.
2.5.1 Supply voltage connector
connector pattern
(external top view)
assignment
type/producer
1. +24V motor
2. GND motor
3. +24V control unit
4. GND control unit
5. housing/pressure balance
PSE/PSS:
series 713/763 (A-cod.);
5-pol.; Binder
PSW:
series 713/763 (A-cod.);
4-pol. with airtube; Binder
1. +24V motor
2. GND motor
3. +24V control unit
4. GND control unit
5. housing/pressure balance
PSE34xx:
HAN4A, Harting
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
2.5.2 Round socket for the bus
connector pattern
(external top view)
assignment
type/producer
1. TD+(WH/GN, white/green)
2. RD+ (WH/OG,
white/orange)
3. TD-(GN, green)
4. RD-(OG, orange)
M12 (D-cod.); 4-pol.
Due to the use of 4-pin sockets, only four-wire cables should
be used.
2.5.3 Hybrid bushing for supply and bus
connector pattern
(external top view)
assignment
type/producer
1. TD+
2. TD-
3. RD+
4. RD-
5. GND motor
6. GND control unit
7. +24V motor
8. +24V control unit
M12 (Y-cod.); 8-pol.

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2.5.4 Connector for jog keys
connector pattern
(external top view)
assignment
type/producer
1. +24V (output)
2. forward key
3. reverse key
4. GND
M8; 4-pol.
2.5.5 Connector-option -2Y-
Two Y-coded bushings for bus and control supply
One A-coded connector for motor supply
connector pattern
(external top view)
assignment
type
1. TD+
2. TD-
3. RD+
4. RD-
5. +24V control unit
6. GND control unit
7. +24V control unit
8. GND control unit
M12 (Y-cod.); 8-pol.
1. +24V motor
2.
3. GND motor
4.
5.
M12 (A-cod.); 5-pol.
2.5.6 Electrical grounding
Next to the connecting plugs there is a M4 stud bolt. It is recommended to connect
the positioning system with a cable as short as possible to the machine base. The
minimum conductor cross section for this is 1.5mm².
2.6 Setting the device address
The device address is being assigned by the EtherCAT master via bus.

Instruction Manual PSx3xxEC
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2.7 LEDs
The following LEDs are located under the transparent sealing plug:
P1/P2: green link LEDs for ports 1 and 2
ECAT: EtherCAT STATUS LED (green/red; see EtherCAT spezification)
V-Motor: The LED is illuminated yellow when power is available to the motor.
PSx30xEC, PSx31xEC-8
PSx32xEC, PSE31xxEC
PSE34xxEC
PSx31xEC-14, PSx33xEC
. 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.
Meaning of the LEDs:
1) Each of the ports (P1/P2) has one associated green LED for the “Link” state and
one for the “Activity” state.
For each port the following states are possible:
- off no line connection
- on line connection is active, no data activity
- flickering with 10 Hz line connection is active, data activity
2) green/red EtherCAT-status LED
- for this status LED see EtherCAT-spezifications
3) The yellow “motor” LED indicates the motor power supply:
- off Motor power supply too low or too high
- on Motor power supply well
flashing Motor power supply well, PSx in delivery state

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2.8 Start-up
After the supply voltage has been hooked up, a positioning or manual run can begin
immediately.
2.8.1 Positioning sequence (with loop)
- To be able to control the drive with the help of PDOs, it has to be switched to the ESM
state “operational”.
- Transfer target value:
- PDO with control word = 0x14 and desired target value
OR
- PDO with control word = 0x10 and target value in SDO #2001
Drive begins run
- Abort run by resetting the release bit:
- PDO with control word = 0x00
OR
- SDO #2024 with value 0x00 (if pre-operational)
- If a new target value is transferred during a positioning run, the device will
immediately proceed to the new target. There will be no interruption if the direction of
rotation does not need to be altered.
- If a manual run is transmitted during a positioning run, the positioning run will be
aborted (speed will be reduced to that of a manual run) and the device proceeds with
the manual run.
The following sequence of steps is also possible:
Starting situation: release has not been set
- Transfer target value:
- PDO with control word = 0x04 and desired target value
OR
- PDO with control word = 0x10 and target value in SDO #2001
- Set release:
- PDO with control word = 0x10
OR
- SDO #2024 with value 0x10 (if pre-operational)
Drive begins run
2.8.2 Positioning sequence (without loop)
The sequence corresponds to that of a positioning run without loop. In order to do a
positioning run with loop, first the run the parameter “length of loop” has to be set to the
desired value.
- Start manual run (transmit PDO with control word = 0x11 resp. 0x12 or, if pre-
operational, transmit SDO #2024 with value 0x11 resp. 0x12): device begins to run
- End manual run by clearing the manual run command (transmit PDO with control
word = 0x10 or, if pre-operational, transmit SDO #2024 with value 0x10) or by
deasserting release (transmit PDO with control word = 0x00 or, if pre-operational,
transmit SDO #2024 with value 0x00).
- Transferring a target value during a manual run will end the manual run and the
device will immediately move on to the transmitted position (PDO with control word =
0x14 and desired target value). If pre-operational, target value in SDO #2001. The
drive then automatically deasserts the manual run bits in the control word (bits 0 and
1).

Instruction Manual PSx3xxEC
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2.8.3 Manual run
- Start manual run (transmit PDO with control word = 0x11 resp. 0x12 or, if pre-
operational, transmit SDO #2024 with value 0x11 resp. 0x12): device begins to run
- End manual run by clearing the manual run command (transmit PDO with control
word = 0x10 or, if pre-operational, transmit SDO #2024 with value 0x10) or by
deasserting release (transmit PDO with control word = 0x00 or, if pre-operational,
transmit SDO #2024 with value 0x00).
- Transferring a target value during a manual run will end the manual run and the
device will immediately move on to the transmitted position (PDO with control word =
0x14 and desired target value). If pre-operational, target value in SDO #2001. The
drive then automatically deasserts the manual run bits in the control word (bits 0 and
1).
2.9 EtherCAT interface with CoE protocol (CANopen over EtherCAT)
The EtherCAT interface uses the protocol “CANopen over EtherCAT”according
ETG1000.6 section 5.6:
One send and receive SDO per device
One asynchron send and receive PDO, active by default
Meaning of the LEDs:
1) Each of the ports (P1/P2) has an associated green LED (“Link/Activity”).
The following states are possible for each port:
- Off no connection
- Flickering with 10 Hz connection; data transmission active
- On connection; data transmission inactive
2) The green LED “Run” signalizeses the ESM state:
- Off INIT
- Flashing with 2,5Hz PRE-OPERATIONAL
- Flashing with 1Hz SAFE-OPERATIONAL
- On OPERATIONAL
3) The red LED “Error” signalizes an error:
- Off no error
- Single flashing with 1Hz local fault, application changes ESM state
- Double flashing with 1Hz watchdog timeout
- flashing with 2,5Hz configuration fault
4) The yellow LED “Motor” indicates the supply voltage for the motor:
- Off supply voltage for motor too low or too high
- On supply voltage for motor ok
- Flashing supply voltage for motor ok, PSx in delivery state

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2.9.1 Table of entries implemented from object dictionary
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
Device Type
1000
returns a “0” when read
0
0
R
Manufacturer
Software
Version
100A
denotes the software of the EtherCAT
drives; when being read the string
“PSx3xxIE/ECAT” is given back
R
Identity
1018
sub index 0: quantity of indexes (= 4)
sub 1: Vendor ID (= 0x000002D8)
sub 2: Product code
sub 3: Revision number (= 0x00010000)
sub 4: Serial number
8 bit
32 bit
32 bit
32 bit
32 bit
4
R
R
R
R
R
Receive
PDO 1
Mapping
1600
sub index 0: quantity of indexes (= 2)
sub 1: 0x20240010
sub 2: 0x20010020
8 bit
32 bit
32 bit
2
R
R
R
Transmit
PDO 1
Mapping
1A00
sub index 0: quantity of indexes (= 3)
sub 1: 0x20250010
sub 2: 0x20300010
sub 3: 0x20030020
8 bit
32 bit
32 bit
32 bit
3
R
R
R
R
SM Comm
Types
1C00
sub index 0: quantity of indexes (= 4)
sub 1: SM0 (= 1)
sub 2: SM1 (= 2)
sub 3: SM2 (= 3)
sub 4: SM3 (= 4)
8 bit
8 bit
8 bit
8 bit
8 bit
4
R
R
R
R
R
SM0 PDO
Assignment
1C10
sub index 0: quantity of indexes (= 0)
8 bit
0
R
SM1 PDO
Assignment
1C11
sub index 0: quantity of indexes (= 0)
8 bit
0
R
SM2 PDO
Assignment
1C12
sub index 0: quantity of indexes (= 1)
sub 1: 0x1600 (1. RxPDO)
8 bit
16 bit
1
R
SM3 PDO
Assignment
1C13
sub index 0: quantity of indexes (= 1)
sub 1: 0x1A00 (1. TxPDO)
8 bit
16 bit
1
R

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Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
general
purpuse
register
2000
0...10
10 general purpose registers
sub index 0: quantity of indexes (= 10)
sub 1..10: general purpose registers
8 bit
16 bit
yes
10
0
R
R/W
target value
2001
target position to be achieved
value in 1/100 mm (for a 4mm spindle and
default settings of numerator, #2010 and
denominator, #2011)
31 bit
no
0
R/W
actual value
2003
current actual position
value in 1/100 mm (for a 4mm spindle and
default settings of numerator #2010 and
denominator #2011)
Writing onto this index number causes the
current position to be “referenced” onto
the transferred value.
Changes only possible when at standstill
31 bit
no
R/W
referencing
value
2004
correction factor for the target, actual and
limit switch values
Changes only possible when at standstill
31 bit
yes
0
R/W
drag error
2005
maximum drag error before the ‘drag
error’ bit is set.
value in 1/100 mm (for a 4mm spindle and
default settings of numerator and
denominator)
0...1000
16 bit
yes
0
R/W
positioning
window
2006
permissible difference between target and
actual values for “position reached” bit
value in 1/100 mm (for a 4mm spindle and
default settings of numerator and
denominator)
The maximum value that can be set
changes according to the same factor as
the resolution.
Changes only possible when at standstill
1...100
16 bit
yes
2
R/W
actual value
assessment,
numerator
2010
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
Changes only possible when at standstill
1...10000
16 bit
yes
400
R/W
actual value
assessment,
denominator
2011
1...10000
16 bit
yes
400
R/W
target rpm
posi
2012
value in rpm
maximum rpm to be used for positioning
runs
see table
16 bit
yes
see
table
R/W
target rpm
hand
2013
value in rpm
maximum rpm to be used for manual runs
see table
16 bit
yes
see
table
R/W
maximum
torque
2014
Applies after completion of start phase
(during start phase the value #2018
applies); value in cNm
see table
16 bit
yes
see
table
R/W

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Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
upper limit
2016
maximum permitted target position
minimum value:
upper mapping end - 253 revolutions
maximum value:
upper mapping end - 3 revolutions
Changes only possible when at standstill
31 bit
yes
101200
R/W
lower limit
2017
minimum permitted target position
minimum value:
upper mapping end - 253 revolutions
maximum value:
upper mapping end - 3 revolutions
Changes only possible when at standstill
31 bit
yes
1200
R/W
maximum
start-up
torque
2018
value in cNm
see table
16 bit
yes
see
table
R/W
time period
for start-up
torque
2019
Time period at the beginning of a move in
which the maximum start-up torque
applies
value in msec
10...1000
16 bit
yes
200
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 table
16 bit
yes
see
table
R/W
deceleration
201D
value in rpm per sec.
see table
16 bit
yes
see
table
R/W
length of loop
201F
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)
Changes only possible when at standstill
-1…1
rotation
32 bit
yes
-250
R/W
control word
2024
Bit 0: manual run to larger values
Bit 1: manual run to smaller values
Bit 2: transfer target value (When sending
the target values with the help of PDOs,
positioning will only take place if this bit is
set.)
Bit 4: release: The axle will only run if this
bit is set.
Bit 5: Enable jog mode with keys: When
the bus connection is active, the external
keys are only active when the bit is set.
Bit 6: Run without loop
Bit 7: Execute switch-on loop movement
Bit 8: Jog to larger values
Bit 9: Jog to smaller values
All other bits must be set to 0!
16 bit
no
0
R/W

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Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
status word
2025
Bit 0: target position reached
Bit 1: drag error
Bit 2: reserved
Bit 3: reserved
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
0..FFFFh
16 bit
R
Address
2026
Configured Station Alias
Writing:
When writing the address with the help of
this SDO, the new address will only be
taken over into the ESC and the SII after
saving the parameters in the EEPROM
(see SDO #204F) and restart.
When the address is being directly written
into the SII (i.e. not with the help of a
SDO), the drive automatically saves the
parameters in the EEPROM.
16 bit
yes
0
R/W
upper
mapping end
2028
definition of the positioning range relative
to the absolute measuring system
permissible values:
(actual position value + 3 revolutions …
(actual position value + 253 revolutions)
Changes only possible when at standstill
31 bit
yes
102400
R/W
maximum
holding
torque
202B
maximum holding torque at standstill in
cNm
see table
16 bit
yes
see
table
R/W
direction of
rotation
202C
0: clockwise with larger values
(if looking at the output shaft)
1: counter clockwise with larger values
Schreiben ist nur im Stillstand möglich.
Changes only possible when at standstill
0 or 1
16 bit
yes
0
R/W
idle period
202E
idle period in msec when reversing the
direction of rotation
10...
10000
16 bit
yes
10
R/W
actual rpm
2030
value in rpm
16 bit
R

Instruction Manual PSx3xxEC
17
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
maximum
torque
2031
maximum torque occurring during the
most recent run (start phase, during
which the maximum start-up torque
applies, see SDOs #2018/2019, and the
phase when the drive is braking down,
are not considered)
value in cNm
16 bit
R
actual torque
2033
value in cNm
16 bit
R
U control
203A
current supply voltage for control unit
given in increments of 0.1 V
16 bit
R
U motor
203B
current supply voltage for motor given
in increments of 0.1 V
16 bit
R
Umot limit
203C
voltage limit for bit 4 (‘motor power
present’); given in increments of 0.1 V
Beginning a positioning run or a manual
run is only possible if the supply voltage
for the motor is higher than the value of
this SDO. During the run the voltage
might fall down to 17.5V.
180…240
16 bit
yes
185
R/W
Umot filter
203D
average time for measuring motor
supply voltage; value in msec
100…1000
16 bit
yes
100
R/W
temperature
limit
203E
upper temperature limit in °C
10...70
16 bit
yes
70
R/W
device
temperature
203F
internal device temperature in °C
16 bit
R
production
date
2040
year and week of manufacturing
(given as an integer)
YYWW
16 bit
R
serial number
2041
serial device number
0…65535
16 bit
R
maximum
holding
torque at end
of run
2042
value in cNm
see table
16 bit
yes
see
table
R/W
duration of
maximum
holding
torque at end
of run
2043
time period at end of run, in which the
‘maximum holding torque at end of run’
applies (value in msec)
0..1000
16 bit
yes
200
R/W
waiting time
for brake
(end of run)
2045
time period after the end of run, in
which the brake stays released (value
in msec)
0...3000
16 bit
yes
1000
R/W
drag error
correction
2046
maximum modification of the target
speed for drag error correction
Changes only possible when at
standstill
0…10
16 bit
yes
4
R/W
readjustment
2047
readjustment at standstill
0 Off; 1 On
0…1
8 bit
yes
0
R/W
device model
204D
device model within the PSx drive
series as string (e.g. “PSE312-8-B”)
R
version
204E
software version number
16 bit
R

Instruction Manual PSx3xxEC
18
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
delivery state
204F
writing “-2”:
sets the values of all parameters to the
values which are saved last by the user,
without saving the parameters in the
EEPROM
writing “-1”:
sets the values of all parameters to the
delivery state, without saving the
parameters in the EEPROM
writing “1”:
saves all parameters in the EEPROM
reading directly after boot:
0 content of memory correct
≠ 0 content of memory incorrect
reading after saving:
0 saving finished successfully
≠ 0 saving is still in progress or is
finished incorrectly (the time for saving is
up to 200 msec)
Changes only possible when at standstill
-2, -1 or
1
(writing)
0..2
(reading)
16 bit
no
R/W
2.9.2 Table of rated speed and torque values for various models of gears
device model
PSE and PSS
301-x
311-x
302-x
312-x
305-x
315-8
322
332
325
335
328-14
Name
Index
number
value range
delivery state
target rpm posi
2012
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5…45
45
target rpm hand
2013
15...230
80
10...150
50
3...70
20
20...200
80
10...100
40
5…45
22
acceleration
201C
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22…100
100
deceleration
201D
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22…100
100
maximum torque
2014
2...125
100
10...250
200
50...600
500
10...250
200
20...500
400
80...960
800
maximum start-
up torque
2018
2...125
125
10...250
250
50...600
600
10...250
250
20...500
500
80...960
960
maximum
holding torque
202B
0...90
30
0...150
50
0...300
100
0...100
35
0...200
70
0...450
150
maximum
holding torque at
end of run
2042
0...180
60
0...300
100
0...600
200
0...200
70
0...400
140
0...700
300

Instruction Manual PSx3xxEC
19
device model PSW
301-x
311-x
302-x
312-x
305-x
315-8
322
332
325
335
328-14
Name
Index
number
value range
delivery state
target rpm posi
2012
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5…35
35
target rpm hand
2013
15...180
80
10...125
50
3...60
20
20...150
80
10...80
40
5…35
22
acceleration
201C
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22…100
100
deceleration
201D
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22…100
100
maximum torque
2014
2...125
100
10...250
200
50...600
500
10...250
200
20...500
400
80...960
800
maximum start-
up torque
2018
2...125
125
10...250
250
50...600
600
10...250
250
20...500
500
80...960
960
maximum
holding torque
202B
0...90
30
0...150
50
0...300
100
0...100
35
0...200
70
0...450
150
maximum
holding torque at
end of run
2042
0...180
60
0...300
100
0...600
200
0...200
70
0...400
140
0...700
300
device model PSE
3110
3125
3210
3310
3218
Name
Index
number
value range
delivery state
target rpm posi
2012
1…30
30
1…12
12
5...45
38
3...30
28
target rpm hand
2013
1…30
12
1…12
5
5...45
15
3...30
10
acceleration
201C
9…50
50
4…20
20
20...117
117
11...70
70
deceleration
201D
9…50
50
4…20
20
20...117
117
11...70
70
maximum torque
2014
100...1200
1000
250...3000
2500
100...1200
1000
180...2200
1800
maximum start-up
torque
2018
100...1200
1200
250...3000
3000
100...1200
1200
180...2200
2200
maximum holding
torque
202B
0...600
200
0...1250
450
0...500
175
0...900
300
maximum holding
torque at end of
run
2042
0...1200
400
0...2500
900
0...1000
350
0...1800
600

Instruction Manual PSx3xxEC
20
device model PSE
338-14
3325
3410
3418
Name
Index
number
value range
delivery state
target rpm posi
2012
8...85
55
2...18
15
10...100
100
10...90
90
target rpm hand
2013
8...85
15
2...18
6
10...100
40
10...90
30
acceleration
201C
37...200
200
8...45
45
20...350
350
10...315
315
deceleration
201D
37...200
200
8...45
45
20...350
350
10...315
315
maximum torque
2014
80...840
700
250...3000
2500
100...1200
1000
500...2000
1800
maximum start-up
torque
2018
80...840
840
250...3000
3000
100...1200
1200
500...2000
2000
maximum holding
torque
202B
0...350
120
0...1250
450
0...300
200
0...450
300
maximum holding
torque at end of
run
2042
0...700
240
0...2500
900
0...600
400
0...900
600
2.9.3 PDO definition
1) Receive PDO (from the perspective of the PSx3xx)
Assignment (cannot be modified):
Bit
Byte
Description
corresponding SDO index number
0-15
0,1
control word
2024h
16-47
2-5
target value
2001h
2) Transmit PDO (from the perspective of the PSx3xx)
Assignment (cannot be modified):
Bit
Byte
Description
corresponding SDO index number
0-15
0,1
status
2025h
16-31
2,3
current rpm
2030h
32-63
4-7
actual value
2003h
2.9.4 Detailed description of the status bits
Bit 0: target position reached
This bit is set:
- when a transferred target position has been reached successfully (not at the
end of a manual run, elsewise the target position is the same as the
applicable limit switch)
- after manual displacement while at standstill, when the actual position is
within the positioning window again
This bit is reset:
- after transferring a target position if the difference from the actual value is
larger than the positioning window (SDO #2006)
- by a manual run
- if an invalid target value has been transferred
- if rotated manually when on standstill