halstrup-walcher PS-3 Series User manual

Document 7100.004224
Instruction Manual
PSx3xx-CA
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten
Tel.: [phone]
Fax: [phone]
E-Mail: [e-mail]
Internet: www.halstrup-walcher.com

Instruction Manual PSx3xx-CA
2
Revision overview
Version:
Date:
Author:
Content:
A
2008
Re
Initial Version
B
03.06.08
Re
updated, extended and errors removed
C
02.12.09
Re
updated, extended and errors removed
D
03.12.09
Re
updated, extended and errors removed
E
03.03.10
Re
updated, extended and errors removed
F
23.08.10
Re
updated, extended and errors removed
G
18.04.11
Ka
Positioning range, spindle lash
H
25.02.14
Me
Pin assignment
I
16.02.15
Me
Additions PSS/PSW; drawings
J
11.11.16
Me
LED description; new device models
K
08.02.17
Me
Additions power- and bus plug
L
17.03.17
Me
Fit of output shaft; Grounding
M
29.04.21
Ka
Text structure
N
20.06.18
Ka
PSE303-14/So
O
08.11.18
Me
Standardisation of PSx-manuals
P
20.03.19
Me
Fuses
Q
28.06.19
Ka
Scaling factors to set the spindle pitch
R
13.10.20
Ka
Additions PSE303-14/So
S
10.10.21
Me
Revision overview; Mapping-End; IP65; new decl. of conformity
Accessoires PSx3xx-CA series
We offer you the corresponding supply and data plugs for all unit types. Please contact our
sales department, stating the complete type designation, at the following e-mail address
[email protected]

Instruction Manual PSx3xx-CA
3
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.
© 2010, 2015, 2016, 2017, 2018, 2020, 2021
The manufacturer owns the copyright to this instruction manual. It contains technical
data, instructions and drawings detailing the devices’ features and how to use them. It
must not be copied either wholly or in part or made available to third parties.

Instruction Manual PSx3xx-CA
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Table of Contents
1Safety precautions........................................................................................................5
1.1 Appropriate use ...........................................................................................................5
1.2 Shipping, assembly, electrical connections and start-up..............................................5
1.3 Troubleshooting, maintenance, repairs, disposal.........................................................5
1.4 Symbols.......................................................................................................................6
2Device description........................................................................................................6
2.1 Features......................................................................................................................6
2.2 Installation ...................................................................................................................7
2.3 Disassembly................................................................................................................9
2.4 Powering the device ....................................................................................................9
2.5 Pin assignment............................................................................................................9
2.5.1 Supply voltage connector (24VDC) .................................................................. 9
2.5.2 Round plug and socket for bus (Port 1 und Port 2)..........................................10
2.5.3 Connector for jog keys (Jog) ...........................................................................10
2.5.4 Electrical grounding.........................................................................................10
2.6 Setting the device address and baud rate..................................................................11
2.7 Start-up......................................................................................................................12
2.8 CAN Bus....................................................................................................................12
2.8.1 Table of entries implemented from object dictionary........................................13
2.8.2 Table of rated speed and torque values for various models of gears...............20
2.8.3 PDO definition.................................................................................................22
2.8.4 Detailed description of status bits....................................................................22
2.8.5 Detailed description of control bits...................................................................24
3Sequence of positioning............................................................................................26
3.1 Positioning run...........................................................................................................26
3.2 Positioning run without loop.......................................................................................27
3.3 Manual run.................................................................................................................27
4Special features..........................................................................................................28
4.1 Speed, acceleration and deceleration........................................................................28
4.2 Maximum starting torque and maximum torque .........................................................28
4.3 Response of drive in case of block.............................................................................28
4.4 Behaviour of the actuator during manual rotation (readjustment function)..................29
4.5 Calculating the absolute physical position..................................................................30
4.6 Use of the “Upper mapping end” parameter...............................................................32
4.6.1 Delivery state ..................................................................................................32
4.6.2 Shifting the positioning range upwards starting from the delivery state............32
4.6.3 Shifting the positioning range downwards starting from the delivery state.......33
4.6.4 Shifting the positioning range depending on the actual position ......................34
4.6.5 Step-by-step instructions for determining the positioning range.......................35
4.7 Using actual value assessment factors to set the spindle pitch..................................36
4.8 Drag error..................................................................................................................36
4.9 Abort run when the master fails .................................................................................37
4.10 Optional: Manual run using external keys (jog key mode)..........................................37
4.11 Devices with optional snap brake...............................................................................39
4.12 Devices with optional holding brake...........................................................................40
4.13 Reference runs..........................................................................................................41
4.14 Reverse drive ............................................................................................................41
5Technical data.............................................................................................................42
5.1 Ambient conditions ....................................................................................................42
5.2 Electrical data............................................................................................................42
5.3 Physical data.............................................................................................................43
6Certificate of Conformity............................................................................................44

Instruction Manual PSx3xx-CA
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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 PSx3xx-CA
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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 CANopen 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.

Instruction Manual PSx3xx-CA
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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.

Instruction Manual PSx3xx-CA
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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.
Please consider that the device might have
a hot surface during operation!

Instruction Manual PSx3xx-CA
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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.
Underwater usage of the PSW is not allowed
Please consider that the device might have
a hot surface during operation!
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 (24VDC)
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
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.

Instruction Manual PSx3xx-CA
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2.5.2 Round plug and socket for bus (Port 1 und Port 2)
connector pattern
(external top view)
assignment
type
plug socket
1. housing
2. not assigned
3. CAN_GND
4. CAN_H
5. CAN_L
M12 (B-cod.);
5-pol.
Due to the use of 5-pin sockets, only five-wire cables should be
used.
2.5.3 Connector for jog keys (Jog)
connector pattern
(external top view)
assignment
type
1. +24V output
(=+24V control in supply
voltage connector)
2. forward key
3. reverse key
4. ground (= GND control unit)
M8; 4-pol.
2.5.4 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.

Instruction Manual PSx3xx-CA
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2.6 Setting the device address and baud rate
Removing the protective cap provides access to two rotary switches for setting the
device address at the bus and a 2-pin sliding switch for setting the baud rate.
The rotary switches indicate the tens and ones places of the address selected. If the
switches are resting in the positions 00 or 01 the address is set using the CAN bus
with SDO #2026.
The delivery setting is 00, the PSx3xx reports to the bus with the address 1.
If the switches have been used to set the address (i.e. the switch setting is > 01), this
value cannot be changed via the CAN bus.
The yellow LED represents the state of the motor supply voltage, the red and green
LEDs represent the CANopen state.
Switch configurations:
PSx30x, PSx31x-8, PSx31x-14, PSE34xx PSE303-14/So
PSx32x, PSE31xx PSx33x
Setting the baud rate:
1
2
PSx30x, PSx31x-8,
PSx32x, PSx31xx,
PSx31x-14, PSx33x,
PSE34xx, PSE303-14/So
OFF
OFF
baud rate is set via bus (default = 500 kBaud)
OFF
ON
500 kBaud
250 kBaud
ON
OFF
250 kBaud
500 kBaud
ON
ON
125 kBaud
Always replace the protective cap after setting the address. This will
prevent dust and contaminants from entering the device.

Instruction Manual PSx3xx-CA
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2.7 Start-up
Positioning sequence (with loop)
The PSx3xx differs between the following steps of a positioning sequence
(Presumption: the target position is always approached through forward motion):
1. New position value is larger than the current value: position approached directly.
2. New position value is smaller than the current value: the device reverses 5/8 of
one rotation and approaches the exact position after resuming forward motion.
3. New position value after reverse run without loop: the device always approaches
the position by moving in forward direction; if necessary, it will first reverse by 5/8
of a rotation.
Once the target position has been reached, the device compares it to the internal
absolute encoder status. If a discrepancy is detected, the device then sets the “error”
bit (bit 9 in the status word).
Positioning sequence (without loop)
The “positioning without loop” mode is used primarily for moving the small distances
involved in fine adjustments. In this case, each position is approached directly. This
does NOT eliminate any play present in the spindle in question. The PSx3xx internal
gear backlash does not play a role in this case, as position data are acquired directly
at the output shaft.
Runs which involve specifically a block run (e.g. reference runs on
block), may only be started with reduced torque (max. torque max. 10%
of the nominal torque).
Underwater usage of the PSW is not allowed.
2.8 CAN Bus
CANopen (corresponding to CiA DS 301 Version 4.02) is used as the protocol at the
CAN bus interface:
one transmit and one receive SDO per device
one asynchronous transmit and receive PDO, active by default
one heartbeat object every 500 msec
- green LED = RUN-LED according CANopen:
Single flashes: CAN stop
Continuous flashing: CAN preoperational
Continuously illuminated: CAN operational
- red LED = ERROR-LED according CANopen:
Off: no error
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 = Display actuator voltage
Off: supply voltage for motor to low or to high
On: supply voltage ok
Flashing: supply voltage ok, PSx in delivery state

Instruction Manual PSx3xx-CA
13
2.8.1 Table of entries implemented from object dictionary
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
device model
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: quantity of indexes
sub index 1 and 2: most recent
emergency errors
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 msec
0 = off
16 bit
no
0
R/W
life time
100D
life time 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
consumer
heartbeat
1016
sub index 0: quantity of indexes (= 2)
sub index 1 and 2:
bit 15-0: Heartbeat time in msec
bit 23-16: node ID of producer
8 bit
32 bit
no
2
0
R
R/W
producer
heartbeat
1017
cycle time for heartbeat via PSx3xx
0 = off
16 bit
no
500
R/W
identity
1018
sub index 0: quantity of indexes (= 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
communi-
cation
parameter
1400
sub index 0: quantity of indexes
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: quantity of indexes (= 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
communi-
cation
parameter
1800
sub index 0: quantity of indexes
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: 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

Instruction Manual PSx3xx-CA
14
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
2000:
0...9
10 general purpose registers
16 bit
yes
0
R/W
target value
2001
target position to be achieved
value in 1/100 mm (for 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 default settings of
numerator #2010 and denominator
#2011)
Writing onto this index number causes the
current position to be “referenced” onto
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
drag error
2005
maximum drag error before the ‘drag
error’bit is set.
Value given in increments (at a resolution
of 0.5 mm)
20...1000
16 bit
yes
40
R/W
positioning
window
2006
permissible difference between target and
actual values for “position reached” bit
The maximum value that can be set
changes according to the same factor as
the resolution
1...100
16 bit
yes
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
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
upper limit
2016
maximum permitted target position
permissible values: (upper mapping end -
1200..101200 * denominator / numerator)
31 bit
yes
101200
R/W
lower limit
2017
minimum permitted target position
permissible values: (upper mapping end -
1200..101200 * denominator / numerator)
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
value in msec
10...1000
16 bit
yes
200
R/W

Instruction Manual PSx3xx-CA
15
Name
Index
number
Function
Range of
value
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 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)
0.025…1
rotations
or 0
32 bit
yes
250
R/W
maximum
rpm, counter-
clockwise
2020
value in rpm
see table
16 bit
yes
see
table
R/W
maximum
rpm,
clockwise
2021
value in rpm
see table
16 bit
yes
see
table
R/W
size of
individual
increment
2022
number of increments when external keys
pressed (or when activating a jog run bit)
for a short-time
1...100
16 bit
yes
1
R/W
idle period for
manual run
2023
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
value in steps of 5 msec
20...2000
16 bit
yes
200
R/W

Instruction Manual PSx3xx-CA
16
Name
Index
number
Function
Range of
value
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: transfer target value (when sending
the target values with the help of PDOs,
positioning will only take place if this bit is
set)
Bit 3: release for manual run in jog key
mode: if this bit is not set, only single
steps are possible in jog key mode
Bit 4: release: the axle will only run if this
bit is set (exception is the jog key mode
with the external keys or with bits 8/9)
Bit 5: release for jog key mode with the
external keys: If the CAN bus is
connected, the external keys are only
active if this bit is set
Bit 6: run without loop
Bit 7: start initial reference loop
Bit 8: jog run to larger values
Bit 9: jog run to smaller values
Bit 10: release readjustment
Bit 11: execute braking-free-run
Bit 12: run with drag error correction
All other bits must be set to 0!
16 bit
no
0
R/W
status word
2025
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..FFFFh
16 bit
R
CAN address
2026
address of drive (if set by CAN bus)
This value cannot be changed if the
address switches are used (i.e. the switch
setting is > 01).
1...127
16 bit
yes
1
R/W
baud rate
2027
0: 50 kBaud 1: 125 kBaud
2: 250 kBaud 3: 500 kBaud
4: 1000 kBaud
This value cannot be changed if the baud
rate switch is used (i.e. the switch setting
is not OFF-OFF).
0...4
16 bit
yes
3
R/W

Instruction Manual PSx3xx-CA
17
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
upper
mapping end
(not in
PSE34xxU
PSE3xxS)
2028
definition of the positioning range relative
to the absolute measuring system
permissible values:
(1 + ref.value) … (204800 *
denominator / numerator - 1 + ref.value)
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
(if looking at the output shaft)
1: counter clockwise
0 or 1
16 bit
yes
0
R/W
running
direction for
approaching
target
positions
202D
0: with 5/8 forward rotation
1: with 5/8 reverse rotation
(5/8 rotation is the default value, see
#201F)
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
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 ‘motor power present’
given in increments of 0.1 V
180...240
16 bit
yes
185
R/W
Umot filter
203D
average time for measuring current power
to motor; given in 5 msec increments
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)
JJWW
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

Instruction Manual PSx3xx-CA
18
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
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
(begin of run)
2044
time period before the begin of run, in
which the brake can be released without
the motor is moving (value in msec)
0...2000
16 bit
yes
150
PSE34x:
5
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
PSE34x:
0
R/W
number of
braking-free
steps
2048
number of steps for the braking-free-run
1...50
16 bit
yes
see
table
R/W
activation of
external keys
204C
when CAN bus is not connected:
0: external keys are active, if the address
0 or 1 is set with the help of the
address switches
1: external keys are active
when CAN bus is connected:
0: only, if in the control word bit 5 is
active (‘release for jog key mode’) and
bit 4 is inactive (‘release for positioning
by bus’)
1: additionally, when the CANopen state
is ‘preoperational’
(When the external keys are active, bits 8
and 9 of the control word are inactive.)
0 or 1
16 bit
yes
0
R/W
device model
204D
One of the following device models of the
PSx series (5-digit numbers show the
diameter of the output shaft in their last 2
places):
PSE and PSS:
30108, 30114, 30208, 30214, 30508,
30514, 31108, 31114, 31208, 31214, 315,
322, 325, 332, 335, 3110, 3125, 3410,
3418
PSW:
36108, 36114 (= 301-8/14)
36208, 36214 (= 302-8/14)
36508, 36514 (= 305-8/14)
37108, 37114 (= 311-8/14)
37208, 37214 (= 312-8/14)
375 (=315-8)
382 (=322-14)
385 (=325-14)
392 (=332-14)
395 (=335-14)
16 bit
R
version
204E
software version number
16 bit
R

Instruction Manual PSx3xx-CA
19
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
delivery state
204F
writing ‘-1’:
generates the delivery state without
modifying the CAN address and the baud
rate (starts initial reference loop, then
positioning to the middle of the
measurement range)
writing ‘-2’:
generates the delivery state (sets CAN
address SDO #2026 to 1, baud rate SDO
#2027 to 500 kBaud, starts initial
reference loop, then positioning to the
middle of the measurement range)
A different CAN address or baud rate is
only active after reset or reset
communication!
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 100 msec)
-1, -2 or
1
16 bit
no
R/W

Instruction Manual PSx3xx-CA
20
2.8.2 Table of rated speed and torque values for various models of gears
device model
PSsE and PSS
301-x
311-x
302-x
312-x
305-x
315-8
322-14
332-14
325-14
335-14
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
maximum rpm,
counterclockwise
2020
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5...45
45
maximum rpm,
clockwise
2021
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5...45
45
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...100
100
10...200
200
50...500
500
10...200
200
20...400
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
number of braking-
free steps
2048
1...50
4
1...50
4
1...50
3
1...50
4
1...50
4
1...50
3
device model PSW
301-x
311-x
302-x
312-x
305-x
315-8
322-14
332-14
325-14
335-14
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
maximum rpm,
counterclockwise
2020
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5...35
35
maximum rpm,
clockwise
2021
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5...35
35
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...100
100
10...200
200
50...500
500
10...200
200
20...400
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
number of braking-
free steps
2048
1...50
4
1...50
4
1...50
3
1...50
4
1...50
4
1...50
3