halstrup-walcher PS*3**DN series User manual

Instruction Manual
PSx3xxDN
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten, Germany
Phone: [phone]
Fax: [phone]
E-mail: [e-mail]
Internet: www.halstrup-walcher.com
Document 7100.004144 03/2017

PSx3xxDN Instruction Manual
2
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
2Device description .........................................................................................................5
2.1 Features.....................................................................................................................5
2.2 Installation..................................................................................................................5
2.3 Pin assignment...........................................................................................................6
2.4 Setting the device address and baud rate ..................................................................7
2.5 Start-up......................................................................................................................9
2.6 CAN Bus....................................................................................................................9
3 Sequence of positioning steps ........................................................................................26
4 Special features..............................................................................................................27
5 Technical data.................................................................................................................33

PSx3xxDN Instruction Manual
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Purpose of instruction manual
This instruction manual describes the features of PSx3xxDN positioning systems and
provides guidelines for their use.
Improper use of these devices or failure to follow these instructions may cause injury
or equipment damage. All individuals responsible for operating these devices must
therefore be properly trained and aware of the hazards. 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 corresponds to the state of the art and meets all legal requirements set
forth in EC directives as evidenced by the CE label.
© 2010, 2015, 2016, 2017
The manufacturer owns the copyright to this instruction manual. This manual contains
data, instructions and drawings pertaining to the features and usage of these devices;
copying this manual in part or in full or distributing it to third parties is prohibited.

PSx3xxDN Instruction Manual
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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.
PSx3xxDN 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
device 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
Only technical personnel who are appropriately trained and authorized by the
operator of the facility may assemble the device and set up its electrical connections.
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
materials and materials that can be reused. For this reason the device must be
recycled in accordance with the environmental guidelines of the jurisdiction in
question once it has been taken permanently out of service.

PSx3xxDN Instruction Manual
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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.
WARNING: This warns you of a potential hazard that could lead to significant
property damage if corresponding instructions are not followed.
INFORMATION: This indicates that the corresponding information is important
for operating the device properly
2 Device description
2.1 Features
The PSx3xxDN 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 DeviceNet 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.
PSx3xxDN positioning systems convert a digital positioning signal into an angle of
rotation.
2.2 Installation
Hollow shaft:
The PSx3xxDN is mounted onto the machine by sliding the hollow shaft of the
positioning gear onto the axis to be driven and then securing it with an adjustable
collar (recommended diameter of the axis is either 8h9 or 14h9; wrench torque for
screw: 1.5Nm). The adjustable collar should be tightened only just to the point where
it can no longer rotate freely.
Securing the pin under the hollow shaft into an appropriate bore will prevent further
rotation.\line (see drawing)

PSx3xxDN Instruction Manual
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Solid shaft:
The PSx3xxDN is mounted on the machine by fixing the solid shaft with coupling and
intermediate flange to the axis of the machine.
Never apply force to the housing cover, e.g., for supporting weight.
Driving the PSx3xxDN rearward is prohibited (e.g. it’s not allowed to turn
the output shaft by an external force).
2.3 Pin assignment
For the supply voltage either a Binder series 715 (B-coded) round, 5-pin plug for PSE
and PSS devices or a 5-pin Harting plug with protective sleeve (HAN4A) for the
PSE34xx devices is located in the housing cover of the PSx3xxDN.
A series 713 (A coded) 5-pin round socket and 5-pin plug are provided for connecting
the CAN bus.
A Binder series 718 4-pin plug is used to connect the jog keys (optional).
Connector for supply to motor:
Round plug Harting plug
(external top view)
1 +24V motor
2 GND motor
3 not assigned
4 not assigned
5 housing/air drill
Connector for jog keys:
(external top view)
1 +24V (output)
2 forward key
3 reverse key
4 ground

PSx3xxDN Instruction Manual
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Round plug for CAN bus: Round socket for CAN bus:
(external top view) (external top view)
1 shield
2 +24V control module
3 GND
4 CAN_H
5 CAN_L
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.
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 wire cross section therefor is 1.5mm².
2.4 Setting the device address and baud rate
Removing the protective cap provides access to two rotary switches for setting the
device address at the bus and a 2-pin sliding switch for setting the baud rate.
The rotary switches indicate the tens and ones places of the address selected. If the
switches are resting in positions between 64 and 99, the address is set using
DeviceNet (PSE object; class 100, instance 1, attribute 38; starting from software
version 147).
The delivery setting is 99, the PSx3xxDN reports to the bus with the address 63.
If the switches have been used to set the address (i.e. the switch setting is < 64), this
value cannot be changed via DeviceNet.
The yellow LED represents the state of the motor supply voltage, the red and green
LEDs represent the DeviceNet state.

PSx3xxDN Instruction Manual
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Switch configurations:
PSx30xDN, PSx31xDN-8,
PSx32xDN, PSE31xxDN
PSx31xDN-14, PSx33xDN
PSE 34xxDN
Setting the baud rate:
Up to firmware version 210:
1
2
PSx30xDN, PSx31xDN-8,
PSx32xDN, PSx31xxDN,
PSx31xDN-14, PSx33xDN,
PSx34xxDN,
OFF
OFF
125 kBaud
OFF
ON
500 kBaud
250 kBaud
ON
OFF
250 kBaud
500 kBaud
ON
ON
baud rate is set via bus (default = 125 kBaud)
For firmware version 211 and higher
1
2
PSx30xDN, PSx31xDN,
PSx31xxDN, PSx32xDN,
PSx33xDN
PSx34xxDN,
OFF
OFF
125 kBaud
OFF
ON
500 kBaud
250 kBaud
ON
OFF
250 kBaud
500 kBaud
ON
ON
baud rate is set via bus (default = 125 kBaud)
If the device names are given without the diameter of the output shaft (-8, -
14), the relevant information is valid for all offered output shafts (applies
throughout the document).
‘x’ in the device name stands for a number in the range 0..9. ‘xx’ in the
device name stands for a number in the range 10..999.
Important: Always replace the protective cap after setting the address.
This will prevent dust and contaminants from entering the device.
In some stainless steel variants the protective cap is not present. In this
case, device address and baud rate can only be set via bus.

PSx3xxDN Instruction Manual
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2.5 Start-up
Positioning sequence (with reference loop)
The PSx3xxDN distinguishes 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 an
additional 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 PSx3xxDN
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).
2.6 CAN Bus
A DeviceNet protocol corresponding to ODVA CIP Networks Library Volume One
Edition 3.1 and Volume Three Edition 1.3 is the protocol used for the CAN bus
interface:
A group 2 server with UCMM support
2 explicit connections to the master
4 fixed mapping assemblies
I/O messages via poll, bit strobe and change-of-state/cyclic
Multicast poll is not supported
Heartbeat, default = inactive
DeviceNet LED that displays status as follows:
off:
either the device is switched off or no CAN bus is connected
green, steady:
CAN communication OK, device operational
green, flashing:
either no UCMM connection to the master or no learning run has been
performed

PSx3xxDN Instruction Manual
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red, flashing:
relatively minor error, at least one I/O connection has timed out
red, steady:
major error, e.g., bus conflict with another station
red-green, flashing:
communication error
a) Table of implemented attribute entries
The following attributes are part of the PSE object (class ID 100), 1st instance:
Description
Attr.
No.
Function
Range of
value
Back
up
Delivery
State
R/W
target value
1
target position to be achieved
value in 1/100 mm (for default settings of
numerator, Attr. 16 and denominator, Attr.
17)
31 bit
no
0
R/W
actual value
3
current actual position
value in 1/100 mm (for default settings of
numerator, Attr. 16 and denominator, Attr.
17)
Writing onto this index number causes the
current position to be "referenced" onto
the transferred value
31 bit
no
R/W
reference
value
4
correction factor for the target, actual and
limit switch values
31 bit
yes
0
R/W
drag error
5
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
6
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
16
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
17
1...10000
16 bit
yes
400
R/W
target rpm
posi
18
value in rpm
maximum rpm to be used for positioning
runs
see table
16 bit
yes
see table
R/W
target rpm
hand
19
value in rpm
maximum rpm to be used for manual runs
see table
16 bit
yes
see table
R/W
maximum
torque
20
Applies after completion of start phase
(during start phase the value of Attr. 24
applies); value in cNm
see table
16 bit
yes
see table
R/W
upper limit
22
maximum permitted target position
permissible values: (-252...+509)*spindle
pitch + reference value
31 bit
yes
101200
R/W

PSx3xxDN Instruction Manual
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Name
Attr.
No.
Function
Range of
value
Back
up
Delivery
State
R/W
lower limit
23
minimum permissible target position
permissible values: upper limit -
0...250*spindle pitch + reference value
31 bit
yes
1200
R/W
maximum
start-up
torque
24
value in cNm
see table
16 bit
yes
see
table
R/W
time period
for start-up
torque
25
value in msec
10...1000
16 bit
yes
200
R/W
rpm limit for
aborting run
26
value in % of the target rpm
30...90
16 bit
yes
60
(PSx3110
and
PSx3125)
30
(all others)
R/W
time elapsed
until speed
falls below
rpm limit for
aborting run
27
value in msec
50...500
16 bit
yes
200
R/W
length of loop
31
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
32
value in rpm
see table
16 bit
yes
see
table
R/W
maximum
rpm,
clockwise
33
value in rpm
see table
16 bit
yes
see
table
R/W
size of
individual
increment
34
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
35
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

PSx3xxDN Instruction Manual
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Name
Attr.
No.
Function
Range of
value
Back
up
Delivery
State
R/W
control word
36
Bit 0: manual run to larger values
Bit 1: manual run to smaller values
Bit 2: transfer target value (when
transferring a target value with the help of
the poll I/O connection, a positioning run is
only started 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
37
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...FFFF
h
16 bit
no
R
CAN address
38
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 < 64).
This attribute exists for software versions
starting from version 147.
0...63
8 bit
yes
63
R/W

PSx3xxDN Instruction Manual
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Name
Attr.
No.
Function
Range of
value
Back
up
Delivery
State
R/W
baud rate
39
0: 125 kBaud 1: 250 kBaud
2: 500 kBaud
This value cannot be changed if the baud
rate switch is used (i.e. the switch setting
is not ON-ON).
This attribute exists for software versions
starting from version 147.
0...2
8 bit
yes
0
R/W
upper
mapping end
40
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
holding
torque
43
maximum holding torque at standstill in
cNm
see table
16 bit
yes
see table
R/W
direction of
rotation
44
0: clockwise (as seen at the output shaft)
1: counter clockwise
0 or 1
16 bit
yes
0
R/W
running
direction for
approaching
target
positions
45
0:with 5/8 forward rotation
1:with 5/8 reverse rotation
(5/8 rotation is the default value, see attr.
31)
0 or 1
16 bit
yes
0
R/W
idle period
46
idle period in msec when reversing the
direction of rotation
10...10000
16 bit
yes
10
R/W
actual rpm
48
value in rpm
16 bit
no
R
maximum
torque
49
maximum torque occurring during the
most recent run (start phase, during
which the maximum start-up torque
applies, see attr. 24/25, and the phase
when the drive is braking down, are not
considered)
value in cNm
16 bit
no
R
actual torque
51
value in cNm
16 bit
no
R
U control
58
current supply voltage for control unit
given in increments of 0.1 V
16 bit
no
R
U motor
59
current supply voltage for motor given in
increments of 0.1 V
16 bit
no
R
Umot limit
60
voltage limit for bit ‘motor power present’
given in increments of 0.1 V
180...240
16 bit
yes
185
R/W
Umot filter
61
average time for measuring current
power to motor; given in 5 msec
increments
100...100
16 bit
yes
100
R
temperature
limit
62
upper temperature limit in °C
10...70
16 bit
yes
70
R
device
temperature
63
internal device temperature in °C
16 bit
no
R
production
date
64
year and week of manufacturing
(given as an integer)
YYWW
16 bit
yes
R
serial
number
65
serial device number
0...65535
16 bit
yes
R

PSx3xxDN Instruction Manual
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Name
Attr.
No.
Function
Range of
value
Back
up
Delivery
State
R/W
waiting time
for brake
(end of run)
69
time period after the end of run, in which
the brake stays released (value in msec)
0...3000
16 bit
yes
1000
R/W
version
78
software version number
16 bit
yes
R
delivery state
79
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 attr. 38 to 63, baud rate attr. 39
to 125 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
control word,
bit 0
80
manual run to larger values
0,1
8 bit
no
R/W
control word,
bit 1
81
manual run to smaller values
0,1
8 bit
no
R/W
control word,
bit 2
82
transfer target value
0,1
8 bit
no
R/W
control word,
bit 3
83
release for manual run in jog key mode
0,1
8 bit
no
R/W
control word,
bit 4
84
release
0,1
8 bit
no
R/W
control word,
bit 5
85
release for jog key mode with the external
keys
0,1
8 bit
no
R/W
control word,
bit 6
86
run without loop
0,1
8 bit
no
R/W
control word,
bit 7
87
start initial reference loop
0,1
8 bit
no
R/W
control word,
bit 8
88
jog run to larger values
0,1
8 bit
no
R/W
control word,
bit 9
89
jog run to smaller values
0,1
8 bit
no
R/W

PSx3xxDN Instruction Manual
15
Name
Attr.
No.
Function
Range of
value
Back
up
Delivery
State
R/W
control word,
bit 10
90
release readjustment
0,1
8 bit
no
R/W
control word,
bit 11
91
execute braking-free-run
0,1
8 bit
no
R/W
control word,
bit 12
92
run with drag error correction
0,1
8 bit
no
R/W
status word,
bit 0
96
target position reached
0,1
8 bit
no
R
status word,
bit 1
97
drag error
0,1
8 bit
no
R
status word,
bit 2
98
reverse jog key active
0,1
8 bit
no
R
status word,
bit 3
99
forward jog key active
0,1
8 bit
no
R
status word,
bit 4
100
motor power present
0,1
8 bit
no
R
status word,
bit 5
101
positioning run aborted
0,1
8 bit
no
R
status word,
bit 6
102
drive is running
0,1
8 bit
no
R
status word,
bit 7
103
temperature exceeded
0,1
8 bit
no
R
status word,
bit 8
104
movement opposite loop direction
0,1
8 bit
no
R
status word,
bit 9
105
error
0,1
8 bit
no
R
status word,
bit 10
106
positioning error (block)
0,1
8 bit
no
R
status word,
bit 11
107
manual displacement
0,1
8 bit
no
R
status word,
bit 12
108
incorrect target value
0,1
8 bit
no
R
status word,
bit 13
109
motor power was missing
0,1
8 bit
no
R
status word,
bit 14
110
positive range limit
0,1
8 bit
no
R
status word,
bit 15
111
negative range limit
0,1
8 bit
no
R
waiting time
for brake
(begin of run)
146
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
R/W
number of
braking-free
steps
147
number of steps for the braking-free-run
1...50
16 bit
yes
see
table
R/W
maximum
holding
torque at end
of run
153
value in cNm
see table
16 bit
yes
see
table
R/W

PSx3xxDN Instruction Manual
16
Name
Attr.
No.
Function
Range of
value
Back
up
Delivery
State
R/W
duration of
maximum
holding
torque at end
of run
154
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
acceleration
155
value in rpm per sec.
see table
16 bit
yes
see
table
R/W
deceleration
156
value in rpm per sec.
see table
16 bit
yes
see
table
R/W
10 general
purpose
registers
157…
166
to archive any kind of data (e.g. the
function of a drive within an installation
16 bit
yes
0
R/W
Table of rated speed and torque values for the various device models
Device model
PSE 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
Attribute
No.
Range of value
Delivery State
target rpm
posi
18
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5...45
45
target rpm
hand
19
15...230
80
10...150
50
3...70
20
20...200
80
10...100
40
5...45
22
max. rpm,
counter
clockwise
32
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5...45
45
max. rpm,
clockwise
33
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
5...45
45
acceleration
155
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22...100
100
deceleration
156
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22...100
100
maximum torque
20
2...100
100
10...200
200
50...500
500
10...200
200
20...400
400
80...800
800
maximum start-
up torque
24
2...125
125
10...250
250
50...600
600
10...250
250
20...500
500
80...960
960
max. holding
torque
43
0...90
30
0...150
50
0...300
100
0...100
35
0...200
70
0...450
150
max. holding
torque at end of
run
153
0...180
60
0...300
100
0...600
200
0...200
70
0...400
140
0...900
300
number of
braking-free
steps
147
1...50
4
1...50
4
1...50
3
1...50
4
1...50
4
1...50
3

PSx3xxDN Instruction Manual
17
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
Attri
bute
No.
Range of value
Delivery State
target rpm
posi
18
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5...35
35
target rpm
hand
19
15...180
80
10...125
50
3...60
20
20...150
80
10...80
40
5...35
22
max. rpm, counter
clockwise
32
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5...35
35
max. rpm, clockwise
33
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
5...35
35
acceleration
15
5
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22...100
100
deceleration
15
6
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
22...100
100
maximum torque
20
2...100
100
10...200
200
50...500
500
10...200
200
20...400
400
80...800
800
maximum start-up
torque
24
2...125
125
10...250
250
50...600
600
10...250
250
20...500
500
80...960
960
max. holding torque
43
0...90
30
0...150
50
0...300
100
0...100
35
0...200
70
0...450
150
max. holding torque
at end of run
15
3
0...180
60
0...300
100
0...600
200
0...200
70
0...400
140
0...900
300
number of braking-
free steps
14
7
1...50
4
1...50
4
1...50
3
1...50
4
1...50
4
1...50
3
Device model
PSE
3110-14
3125-14
3410-14
Name
Attri
bute
No.
target rpm
posi
18
1…30
30
1…12
12
10...100
100
target rpm
hand
19
1…30
12
1…12
5
10...100
40
max. rpm, counter
clockwise
32
1…30
30
1…12
12
10...100
100
max. rpm, clockwise
33
1…30
30
1…12
12
10...100
100
acceleration
155
9…50
50
4…20
20
20...350
350
deceleration
156
9…50
50
4…20
20
20...350
350
maximum torque
20
100...1000
1000
250...2500
2500
100...1000
1000
maximum start-up
torque
24
100...1200
1200
250...3000
3000
100...1200
1200
max. holding torque
43
0...600
200
0...1250
450
0...300
200
max. holding torque at
end of run
153
0...1200
400
0...2500
900
0...600
400
number of braking-free
steps
147
1...50
3
1...50
3
1...50
4

PSx3xxDN Instruction Manual
18
Device model
PSE
3210-14
3310-14
3218-14
3325-14
Name
Attri
bute
No.
Range of value
Delivery State
target rpm
posi
18
5…40
40
3…22
22
2…12
12
target rpm
hand
19
5…40
20
3…22
10
2…12
6
max. rpm, counter
clockwise
32
5…40
40
3…22
22
2…12
12
max. rpm, clockwise
33
5…40
40
3…22
22
2…12
12
acceleration
155
25…130
130
15…70
70
10...50
50
deceleration
156
25…130
130
15…70
70
10...50
50
maximum torque
20
100...1000
1000
200...1800
1800
300...2500
2500
maximum start-up
torque
24
100...1200
1200
200...2000
2000
300...3000
2800
max. holding torque
43
0...500
200
0...900
300
0...1200
400
max. holding torque at
end of run
153
0...1000
300
0...1800
600
0...2500
800
number of braking-free
steps
147
1...50
4
1...50
4
1...50
4
b) UCMM connection
Because the PSxxxDN is UCMM capable, the only way to communicate with the
device is through a UCMM-compliant connection.
The PSxxxDN only supports the 8/8 body format, which means that the UCMM
request parameters are fixed as follows:
Source MAC ID = address of the master
Service code = 0x4B
Requested message body format = 0
Group select = 3
Source message ID = 0
The PSxxxDN will then confirm the connection request, whereby the connection
instance ID is 5 (provided this is the first time the device is establishing a UCMM
connection).
A (random) message must now be sent to the device on a cyclical basis (the standard
expected packet rate is 10 sec.) in order to keep the connection active. Otherwise,
this value must be changed (a value of 0 deactivates the monitoring function).
Explicit messages may be sent to the device from now on, whereby the
corresponding ID can be determined from the following parameters:
Message ID = 0
Source MAC ID = address of the master
Message group = 3

PSx3xxDN Instruction Manual
19
Deactivating timeout monitoring for the UCMM connection, for instance, requires the
following explicit message:
Message ID = 0
Destination MAC ID = slave address
Service code = 0x10
Class ID = 5
Instance ID = 5
Attribute ID = 9 (expected packet rate)
Value = 0x0000 (16 bit)
c) Explicit connection
Explicit messages can be used to read and write the attributes from a).
Identifier:
Message ID = 0
Source MAC ID = address of the master
Message group = 3
Content:
Destination MAC ID = slave address
Service code = 0x10 (write); 0x0E (read)
Class ID = 100
Instance ID = 1
Attribute ID according to list a)
Value (if written)
d) I/O connections
The PSx3xxDN supports the following types of I/O messages:
Poll (class ID 5, instance 2)
Bit strobe (class ID 5, instance 3)
Change-of-state/cyclic (class ID 5, instance 4), with or without master
acknowledge
Setting up an I/O connection first requires the use of an explicit connection to allocate
the desired I/O connection; the corresponding identifiers are then reserved and the
connection is set to "configuring" status. The next step is to set the expected packet
rate, after which point the I/O connection will be in place.
The expected packet rate is always attribute 9 (for a given instance in class 5).
WARNING: Activating the change-of-state/cyclic connection may cause the CAN bus
to be flooded with messages as soon as the EPR has been set; to prevent this from
occurring, the inhibit time (class ID 5, instance 4, attribute 17), which indicates the
minimum amount of time that must elapse before a change-of-state event actually
triggers an I/O message, should be set prior to establishing this type of connection.
Only then should the EPR be set.
e) Mapping I/O assemblies
The following 4 assemblies are permanently stored in the PSx3xxDN:
Assembly object (class ID 4), instance 100, attribute 3:

PSx3xxDN Instruction Manual
20
Bit
Byte
Meaning
Source
0-31
0-3
actual value
PSE object (class ID 100), instance 1, attr. 3
32-47
4-5
status word
PSE object (class ID 100), instance 1, attr. 37
48-63
6-7
actual rpm
PSE object (class ID 100), instance 1, attr. 48
Assembly object (class ID 4), instance 101, attribute 3:
Bit
Byte
Meaning
Source
0-16
0-1
status word
PSE object (class ID 100), instance 1, attr. 37
Assembly object (class ID 4), instance 103, attribute 3:
Bit
Byte
Meaning
Source
0-31
0-3
target value
PSE object (class ID 100), instance 1, attr. 1
32-47
4-5
control word
PSE object (class ID 100), instance 1, attr. 36
Assembly object (class ID 4), instance 104, attribute 3:
Bit
Byte
Meaning
Source
0-7
0
control word,
bit 4 (release)
PSE object (class ID 100), instance 1, attr. 36
These assemblies cannot be changed and no additional assemblies may be added.
f) Assigning mapping I/O assemblies to available I/O connections
The PSx3xxDN allows the user to change how mapping I/O assemblies are assigned
to available I/O connections. The current settings for each type of I/O connection are
recorded in the connection object (class ID 5), instance 0, attr. 100-104. The following
provides possible settings and default values:
Name
Attr.
No.
Function
Range of
values
Back
up?
Delivery
state
R/W
select
input_poll
100
assembly instance that the device uses
when establishing a poll connection for
sending messages to the master (i.e., for
a poll response message)
100, 101
8 bit
no
100
R/W
select
output_poll
101
assembly instance that the device uses
when establishing a poll connection for
receiving messages from the master (i.e.,
for a poll command message)
103
8 bit
no
103
R/W
select
input_bit
strobe
102
assembly instance that the device uses
when establishing a bit-strobe connection
for sending messages to the master (i.e.,
for a bit-strobe response message)
101
8 bit
no
101
R/W
select
output_bit
strobe
103
assembly instance that the device uses
when establishing a bit-strobe connection
for receiving messages from the master
(i.e., for a bit-strobe command message)
104
8 bit
no
104
R/W
select
input_COS
104
assembly instance that the device uses
when establishing a change-of-
state/cyclic connection for sending
messages to the master
100, 101
8 bit
no
100
R/W