halstrup-walcher PS 3 EIP Series User manual

Dokument 7100.005164
Instruction Manual
PSx3xxEIP
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten
Tel.: [phone]
Fax: [phone]
E-Mail: [e-mail]
Internet: www.halstrup-walcher.de

Instruction Manual PSx3xxEIP
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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....................................................................................................................5
2. Device description ................................................................................................5
2.1. Features...................................................................................................................5
2.2. Installation................................................................................................................6
2.3. Disassembly.............................................................................................................8
2.4. Powering the device .................................................................................................8
2.5. Pin assignment.........................................................................................................8
2.5.1.Supply voltage connector..........................................................................................8
2.5.2.Round socket for bus................................................................................................9
2.5.3.One Hybrid bushing for supply and bus....................................................................9
2.5.4.Connector for jog keys..............................................................................................9
2.5.5.Connector-option -2Y- ..............................................................................................9
2.5.6.Electrical grounding................................................................................................10
2.6. Setting of the IP address.........................................................................................10
2.7. LEDs.......................................................................................................................11
2.8. Start-up...................................................................................................................12
2.8.1.Positioning run........................................................................................................12
2.8.2.Manual run .............................................................................................................13
2.9. EtherNet/IP interface ..............................................................................................13
2.9.1.Table of implemented parameter entries (class 0x64; instance 1)...........................15
2.9.2.Table of rated speed and torque values for various models of gears ......................22
2.9.3.Process data format................................................................................................24
2.9.4.Detailed description of the status bits......................................................................24
2.9.5.Detailed description of control bits..........................................................................27
2.9.6.Parameter interface................................................................................................28
3. Sequence of positioning.....................................................................................31
3.1. Positioning sequence with loop...............................................................................31
3.2. Positioning sequence without loop..........................................................................32
4. Specials................................................................................................................32
4.1. Speed, acceleration and deceleration.....................................................................32
4.2. Maximum starting torque and maximum torque ................................................32
4.3. Response of drive in case of block .........................................................................32
4.4. Response of drive in case of manual displacement (readjustment).........................33
4.5. Calculating the absolute physical position...............................................................33
4.6. Using position scaling factors to set the spindle pitch .............................................36
4.7. Drag error monitoring..............................................................................................36
4.8. Drag error correction...............................................................................................36
4.9. Abort run when the master fails ..............................................................................36
4.10. Devices with "Jog keys" option ...............................................................................37
4.11. Devices with optional snap brake............................................................................38
4.12. Devices with optional holding brake........................................................................39
4.13. Reference runs.......................................................................................................40
4.14. Reverse drive .........................................................................................................40
5. Technical Data.....................................................................................................41
5.1. Ambient conditions .................................................................................................41
5.2. Electrical data.........................................................................................................41
5.3. Physical data..........................................................................................................42
6. Certificate of Conformity ....................................................................................43

Instruction Manual PSx3xxEIP
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Purpose of instruction manual
This instruction manual describes the features of the PSx3xx 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.
© 2013, 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.

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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.

Instruction Manual PSx3xxEIP
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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 EtherNet/IP 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.
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.

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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.
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.

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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.
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!

Instruction Manual PSx3xxEIP
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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.
It is strongly recommended to separate power cables to the
PSx3xxEI from other power cables that might have dangerous
voltage.
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
1. +24V motor
2. GND motor
3. +24V control unit
4. GND control unit
5. housing/pressure balance
PSE/PSS:
M12 (A-cod.); 5-pol.
PSW:
M12 (A-cod.);
4-pol. with airtube
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
In the special version with two M12 supply plugs, a maximum of 3
drives may be connected in series. Due to the maximum current
load of the connectors, the drives must not be positioned
synchronously.

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2.5.2. Round socket for bus
connector pattern
(external top view)
assignment
type
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. One Hybrid bushing for supply and bus
connector pattern
(external top view)
assignment
type
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.
2.5.4. Connector for jog keys
connector pattern
(external top view)
assignment
type
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.

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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 of the IP address
The IP address might be provided by 5 different ways:
1) Address assignment via DHCP:
For this purpose set address 99 with the help of the address switches (if present)
before power up the device.
2) Address assignment via BOOTP:
For this purpose set address 98 with the help of the address switches (if present)
before power up the device.
3) Use the last assigned and saved address:
For this purpose set address 97 with the help of the address switches (if present)
before power up the device. Then IP address, netmask and gateway comes out of
the internal EEPROM and will be used if they are ≠0.
4) Assign a fixed address with the help of address switches:
For this purpose set an address in the area 1...96 with the help of the address
switches (if present) before power up the device. The following settings will result:
- IP address = 192.168.1.0 + value of address switches
- netmask = 255.255.255.0
- gateway = 0.0.0.0 (nicht verwendet)
5) Use the last address assigning method which has been set by the EIP scanner:
For this purpose set address 0with the help of the address switches (if present)
before power up the device.
TCP/IP-Objekt; attr. 3 (configuration control) was at last
0 IP address, netmask and gateway comes out of the internal EEPROM and
will be used if they are ≠ 0.
1 Address assignment via BOOTP
2 Address assignment via DHCP
The value of attr. 3 will be stored with each change in the EEPROM and is being
evaluated after the next power-up.
By setting “configuration control” to 0 the IP address which is used actually
(e.g. received by DHCP) can be saved permanently in the EEPROM of the
drive.
Concerning variants with address switches, the IP address which is used
actually (e.g. received by DHCP) can be saved permanently in the
EEPROM of the drive by setting the address switch from a value ≠97 to 97
when the drive is powered up.
In the delivery state the address switches (if present) are in switch setting 0, the
default setting of “configuration control” ist 2.
I.e. in the delivery state the address assignment is always carried out via DHCP.

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2.7. LEDs
The following LEDs are located under the transparent sealing plug:
P1/P2: green LINK LEDs and yellow ACT LEDs for ports 1 and 2
MS: EtherNet/IP Module Status LED
NS: EtherNet/IP Network Status LED
V_Motor: The LED is illuminated yellow when power is available to the motor.
Switch configurations:
PSx30x, PSx31x-8, PSx31x-14, PSx33x,
PSx32x, PSE31xx,
PSE34xx
Meaning of the LEDs:
1) Each of the ports (P1/P2) has two associated LEDs (one green for the “Link” state
and one yellow for the “Activity” state).
For each port the following states are possible:
- green off, yellow off no line connection
- green on, yellow off line connection is active, no data activity
- green on, yellow is flickering with 10 Hz line connection is active, data activity
2) red/green LED “Module Status”(MS)
- off No power is supplied to the device.
- flashes red/green Self test (only after power up resp. a reset command)
- flashes red Minor recoverable fault (e.g. incorrect configuration)
- red on Major internal fault
- flashes green Standby (not configured e.g. no valid IP address)
- green on operates correctly (e.g. got a valid IP address)
3) red/green LED “Network Status”(NS)
- off no power or no IP address has been assigned
- flashes red/green Self test (only after power up resp. a reset command)
- flashes red Timeout of one or more connections

Instruction Manual PSx3xxEIP
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- red on duplicate IP address
- flashes green no EtherNet/IP connection to the scanner is established
- green on at least one EtherNet/IP connection to the scanner is established
4) 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
2.8. Start-up
After the supply voltage has been hooked up, a positioning or manual run can begin
immediately:
2.8.1. Positioning run
To be able to control the drive with the help of process data, first a cyclic process data
connection has to be established, alternatively each command may be transferred
with explicit messages via UCMM.
In order to command a positioning run, the following commands are relevant:
- Transfer target value:
- control word = 0x14 and desired target value (both in process data)
OR
- control word = 0x10 in Par. 3 and target value in Par. 4 (both as “expl. request”)
Drive begins run
- Abort run by resetting the release bit:
- control word = 0x00 (in process data)
OR
- control word = 0x00 in Par. 3 (as “expl. request”)
- 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:
- control word = 0x04 and desired target value (both in process data)
OR
- control word = 0x00 in Par. 3 and target value in Par. 4 (both as “expl. request”)
- Set release:
- control word = 0x10 (in process data)
OR
- control word = 0x10 in Par. 3 (as “expl. request”)
Drive begins run
Where applicable, positioning runs involve a “loop run” which causes the
target position to be reached from a predefined direction. The direction and
the length of the loop run can be set to the desired value with Par. 42

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(“length of loop”) before the run. With Par. 42 the loop run might also be
disabled.
The transmission of control word and target value with the help of explicit
requests is only possible if NO cyclic process data connection is active.
Underwater usage of the PSW is not allowed.
2.8.2. Manual run
In order to command a positioning run, the following commands are relevant:
- Start manual run (control word = 0x11 resp. 0x12; in process data or as expl.
request in Par. 3): Drive begins run
- End manual run by clearing the manual run command (transmit control word = 0x10)
or by deasserting release (transmit control word = 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:
- control word = 0x14 and desired target value (both in process data)
OR
- target value in Par. 4 (as “expl. request”), the drive then automatically deasserts
the manual run bits in the control word (bits 0 and 1)
2.9. EtherNet/IP interface
Pure UCMM based as well as connection based communication with assemblies is
supported for the process data (see the EDS file which belongs to the device).
To move the drive, the control word as well as the target position have to be set
appropriate. These are encapsulated in the Assem100 together with the output data
of the parameter interface (PLC output data).
The feedback of the drive (PLC input data, Assem101) consists of a state (“status
word”) and the actual values of speed and position (“actual speed”, “actual position”)
as well as the input data of the parameter interface.
The parameters (e.g. target speed) can be set on three different ways:
1) via the configuration during the connection establishment (Assem104)
2) acyclic with read/write requests
3) via the parameter interface in the process data (Assem100, Assem101)
The parameter values are stored non-volatile in the drive. That is to say, if particular
(or all) values are not being configured, the drive works with the saved value. In the
delivery state these are the default values which are suitable for many applications.

Instruction Manual PSx3xxEIP
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configuration:
Just before the effective value which a parameter shall receive, a contrrol bit has to
be transmitted, which specifys if the drive shall take over or ignore the configuration
value. If the configuration value shall be ignored, this control bit has to be set to 0,
otherwise it will be taken over.
Example: In order to take over the target speed in the configuration, the control bit
“target speed - Enable” has to be set to 1, the value in “target speed - Value” then will
be taken over as target speed. The advantage of this method is when doing a
parametrization in the context of running up a device, a parameter might be taken
over out of the project design or alternatively the values which are stored in the
EEPROM of the drive keep their validity. This is being controlled by the control bit
which was described before and which is present for each parameter in the EDS file
and which is being displayed in the project design.
Content of the configuration are the parameter numbers 26 to 110. The corresp.
control bits are located in the parameter numbers 25 to 109.
process data:
As process data for the EIP scanner a 16 byte output assembly and a 16 byte input
assembly exist. With the help of process data positioning runs can be activated and
monitored. Besides, parameters might be written and read, for this the feature
“parameter interface” is being included.
acyclic read and write requests:
Access on all parameters is also possible with acyclic read and write requests instead
via the parameter interface. The parameter number is in both cases the same.
When using acyclic write requests, it has to be considered that just before the
effective value which a parameter shall receive, a control byte has to be transmitted,
which specifys if the drive shall execute or ignore the write request. If the write
request shall be ignored, this control byte has to be set to 0, otherwise the write
request will be executed.
Thus, the data length of the write requests result to 3 byte for 16-bit values
and 5 byte for 32-bit values.
For acyclic reading, the data length of the returned value is 2 byte for 16-bit
values and 4 byte for 32-bit values.
The advantage of this method is when doing a parametrization in the context of
running up a device, a parameter might be taken over out of the project design or
alternatively the values which are stored in the EEPROM of the drive keep their
validity. This is being controlled by the control byte which was described before and
which is present for each parameter in the GSD file and which is being displayed in
the project design.

Instruction Manual PSx3xxEIP
15
2.9.1. Table of implemented parameter entries (class 0x64; instance 1)
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Status requests
status word
8
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
0 ...
0xFFFF
16 bit
R
actual speed
9
value in rpm
15 bit
R
actual value
10
current actual position
value in 1/100 mm (for a 4mm spindle and
default settings of numerator, Par. 28 and
denominator, Par. 30)
Writing onto this parameter causes the
current position to be “referenced” onto
the transferred value.
Changes only possible when at standstill
31 bit
no
R/W
actual torque
14
value in cNm
16 bit
R
maximum
torque
15
maximum torque occurring during the
most recent run (start phase, during which
the maximum start-up torque applies, see
Par. 66/76, and the phase when the drive
is braking down, are not considered)
value in cNm
16 bit
R
U control
16
current supply voltage for control unit
given in increments of 0.1 V
16 bit
R
U motor
17
current supply voltage for motor given in
increments of 0.1 V
16 bit
R
device
temperature
18
internal device temperature in °C
16 bit
R
address
switch
19
current setting of the (optionally present)
address switch
16 bit
R
production
date
20
year and week of manufacturing
(given as an integer)
YYWW
16 bit
R
serial number
21
serial device number
0 …
65535
16 bit
R

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Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Status requests (continued)
device model
(as number)
22
device model within the PSE series as
number (e.g. 31208)
16 bit
R
device model
(as string)
23
device model within the PSE series as
string (e.g. “PSE312-8-B”)
When requesting with “Get Attribute
Single”, the drive is sending the string as
one piece, when requesting via the
parameter interface, consecutively 5
segments have to be requested (IND =
0...4), with each of them containing 4 byte
(example for the first read double word:
0x50534533). The string is zero-
terminated.
R
version
24
software version number
16 bit
R
Run commands
control word
(via explicit
request only
writable, if no
cyclic process
data connection
is active)
3
Bit 0: manual run to larger values
Bit 1: manual run to smaller values
Bit 2: transfer target value
Bit 3: Enable manual operation in jog
mode
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
target value
(via explicit
request only
writable, if no
cyclic process
data connection
is active)
4
target position to be achieved
value in 1/100 mm (for a 4mm spindle and
default settings of numerator, Par. 28 and
denominator, Par. 30)
31 bit
no
0
R/W
Parameter group “position settings”
direction of
rotation
26
0: clockwise with larger values
(if looking at the output shaft)
1: counter clockwise with larger values
Changes only possible when at standstill
0 or 1
16 bit
yes
0
R/W

Instruction Manual PSx3xxEIP
17
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “position settings” (continued)
position
scaling,
numerator
28
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
position
scaling,
denominator
30
1...10000
16 bit
yes
400
R/W
referencing
value
32
correction factor for the target, actual and
limit switch values
Changes only possible when at standstill
31 bit
yes
0
R/W
upper
mapping end
34
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
upper limit
36
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
38
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
positioning
window
40
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
length of loop
42
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
31 bit
yes
-250
R/W

Instruction Manual PSx3xxEIP
18
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “position settings” (continued)
drag error
44
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
readjustment
46
readjustment at standstill
0 off; 1 on
0 or 1
16 bit
yes
0
R/W
drag error
correction
48
maximum modification of the target speed
for drag error correction
Changes only possible when at standstill
0…10
16 bit
yes
4
R/W
size of
individual
increment
50
number of increments when external keys
pressed (or when activating a jog run bit)
for a short-time
The maximum value that can be set
changes according to the same factor as
the resolution.
Writing is only possible at standstill.
1…100
16 bit
yes
1
R/W
Parameter group “velocity”
target speed
52
maximum rpm to be used for positioning
runs; value in rpm
*)
16 bit
yes
*)
R/W
target speed
for manual
run
58
maximum rpm to be used for manual runs
value in rpm
*)
16 bit
yes
*)
R/W
speed limit
for aborting
run
60
value in % of the target speed
30...90
16 bit
yes
30
R/W
acceleration
62
value in rpm per sec.
*)
16 bit
yes
*)
R/W
deceleration
64
value in rpm per sec.
*)
16 bit
yes
*)
R/W
Parameter group “torque”
maximum
start-up
torque
66
value in cNm
*)
16 bit
yes
*)
R/W
maximum
torque
68
Applies after completion of start phase
(during start phase the value Par. 66
applies); value in cNm
*)
16 bit
yes
*)
R/W
maximum
holding
torque at end
of run
70
value in cNm
*)
16 bit
yes
*)
R/W
maximum
holding
torque
72
maximum holding torque at standstill in
cNm (after completion of the phase “max.
holding torque at end of run”)
*)
16 bit
yes
*)
R/W
*) Values depend on device type (see following table).

Instruction Manual PSx3xxEIP
19
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “time”
time elapsed
until speed
falls below
speed limit
for aborting
run
74
value in msec
(see also Par. 60)
50...500
16 bit
yes
200
R/W
time period
for start-up
torque
76
time period at begin of run, in which the
“maximum start-up torque” applies (value
in msec, see also Par. 66)
10...1000
16 bit
yes
200
R/W
duration of
maximum
holding
torque at end
of run
78
time period at end of run, in which the
“maximum holding torque at end of run”
applies (value in msec, see also Par. 70)
0...1000
16 bit
yes
200
R/W
idle period for
direction
change
80
idle period when reversing the direction of
rotation (value in msec)
10 ...
10000
16 bit
yes
10
R/W
idle period for
manual run
82
Span of time a manual run key must be
pressed (or a jog run bit must be
activated) in order to begin a manual run
Changes only possible when at standstill.
(value in steps of 5 msec)
100…
10000
16 bit
yes
1000
R/W
waiting time
for brake at
end of run
84
time period after the end of run, in which
the brake stays released (value in msec)
0...3000
16 bit
yes
1000
R/W
UMot filter
86
average time for measuring current power
to motor (value in msec)
100 …
1000
16 bit
yes
100
R/W
Parameter group “others”
general
purpose
88-106
10 general purpose registers
32 bit
yes
0
R/W
Umot limit
108
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 parameter. During the run the voltage
might fall down to 17.5V.
180 …
240
16 bit
yes
185
R/W
temperature
limit
110
upper temperature limit in °C
10...70
16 bit
yes
70
R/W

Instruction Manual PSx3xxEIP
20
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “others” (continued)
delivery state
113
writing “-3”:
sets the values of all parameters to the
delivery state, erases the IP address, sets
the address assigning method to DHCP
and saves all parameters in the EEPROM
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 (IP address
and address assigning method stay
unaffected)
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
-3, -2, -1
or 1
(writing)
0...2
(reading)
15 bit
no
R/W
configuration
for
connection
timeout
118
Bits 1-0: configuration for connection
timeout (if a connection has been
established and lost)
0x00: continue moving (drive will continue
moving to the actual target position)
0x01: drive will abort any positioning
0x02: drive will move to a save position
which is defined by Par. 120
0x03: reserved
Bits 3-2: configuration of save position run
when no connection is being established
after a certain time at power-up
0x00: no save position run at power-up
0x01: save position run after 15 sec
0x02: save position run after 30 sec
0x03: save position run after 60 sec
16 bit
yes
1
R/W