halstrup-walcher PSD4 Series Operating and installation instructions

Bus description
PSD4xx positioning system –IO-Link

General
7100.006434_Bus description_PSD4xx_IO_J_ENG 2 2022-09-13
halstrup-walcher GmbH
Stegener Straße 10
79199 Kirchzarten
Germany
Tel. [phone]
[e-mail]
www.halstrup-walcher.com
© 2022, Be
The manufacturer owns the copyright to this instruction manual. It contains technical data,
instructions and drawings detailing the device’s features and how to use them. It must not be
copied either wholly or in part or made available to third parties.
The instruction manual is part of the product. Please read this manual carefully, follow our
instructions, and pay special attention to the safety information provided. This instruction manual
should be available at all times. Please contact the manufacturer if you do not understand any
part of the instructions.
The manufacturer reserves the right to continue developing this instrument model without
documenting such development in each individual case. The manufacturer will be happy to
determine whether this manual is up-to-date.

General
7100.006434_Bus description_PSD4xx_IO_J_ENG 3 2022-09-13
Table of contents

General
7100.006434_Bus description_PSD4xx_IO_J_ENG 4 2022-09-13
General
This description is to be used for the commissioning and integration of the drive into a field bus
system.
Technical data for the electrical connections of your drive can be found in the electrical connector
and pin assignment description on the website:
www.halstrup-walcher.de/technicaldocu
Please search for “PSD”and select your type, click on “Instruction manuals”and download the
“connector and pin assignment” offered for your bus system.

Start-up
7100.006434_Bus description_PSD4xx_IO_J_ENG 5 2022-09-13
1. Start-up
WARNING Risk of injury if used inappropriately.
The device must be installed by trained technical personnel.
WARNING Risk of burns due to hot drive.
The drive can become very hot during operation.
Allow the drive to cool before touching it.
WARNING Risk of crushing due to rotary movement.
Do not reach into the working area of the drive when it is still
turning.
The user/operator must ensure appropriate protective
measures are taken.
WARNING Incorrect assembly can lead to the destruction of the drive.
WARNING Check that the supply lines are not pinched or crushed.
Lay the supply lines according to the general and specific local
assembly regulations.
If the supply lines have not been delivered together with the
device, please select suitable cables for the application.
Do not operate the drive if the supply lines are noticeably
damaged.
WARNING Risk of injury. High contact voltages can occur in the case of
malfunctions.
This can be prevented by grounding.
ATTENTION The drive must be protected against excessive heating.
The user/operator must ensure appropriate protective measures are
taken.
ATTENTION Never apply force to the housing of the drive, e.g. for supporting
weight.

Start-up
7100.006434_Bus description_PSD4xx_IO_J_ENG 6 2022-09-13
1.1. Mounting and pin assignment
To turn on the PSD4xx, install the drive in the correct position according to the instructions in the
installation manual.
For technical data on the electrical connections of your drive, please refer to the connection and
plug description on the website.
You can find information about installing and the connection and pin assignment of the drive at the
following link: www.halstrup-walcher.de/technicaldocu
Please search for “PSD”and select your type, click on “Instruction manuals”and download the
“connector and pin assignment” offered for your bus system.
1.2. Grounding the drive
The device must be grounded before connecting it to the power supply cable. The grounding
cable must be connected to the grounding screw (see illustration) on the device and connected to
ground potential (e.g. machine base).
Note: The positioning system should be connected to the machine base using the
shortest possible cable. The minimum wire cross-section of the grounding cable is
1.5 mm².
Once the device has been grounded, it can be connected to the power supply and the
communication interface. The drive is now ready for operation.
Grounding screw

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 7 2022-09-13
2. Description of IO-Link
Note: For the IO-Link interface, the protocol used is SDCI according to IEC 61131-9
version 1.1.2.
2.1. Status LEDs
The following LEDs are located under the sealing plug:
Green LED (gn) = RUN LED in accordance with IO-Link
Off
IO-Link communication not available
90% on, 10% off
IO-Link communication available
Yellow LED (ye) = Display motor voltage
Off
Motor voltage too low or too high
On
Motor voltage OK
Flashing at 0.5 Hz
Motor voltage OK and drive in the delivery state
(concerning the values of all parameters and the position of the axis)

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 8 2022-09-13
2.2. Table of entries implemented from object dictionary
Note: Reserved bits or ISDUs must be described with 0.
Designation
ISDU
no.
Function
Range
of values
Back
up?
Delivery
state
R/W
IO-Link standard variables
Direct
parameter 1
0
Sub 1:
Sub 2:
Sub 3:
Sub 4:
Sub 5:
Sub 6:
Sub 7:
Sub 8:
Sub 9:
Sub 10:
Sub 11:
Sub 12:
Sub 13:
Sub 14:
Sub 15:
Sub 16:
Master command
Master cycle time
Minimum cycle time
Telegram capability
IO-Link version ID
Process data length
input
Process data length
output
Manufacturer ID 1
Manufacturer ID 1
Device ID 1
Device ID 2
Device ID 3
Reserved
Reserved
Reserved
Standard command
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
8 bit
68
43
17
135
16
2
216
0
0
0
W
R/W
R
R
R
R
R
R
R
R
R
R
R
R
R
W
Standard
command
2
To trigger specific commands:
8 bit
W
Value
128
130
161
Meaning
Reset the device
Restore delivery state
Save parameters in
EEPROM

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 9 2022-09-13
Designation
ISDU
no.
Function
Range
of values
Back
up?
Delivery
state
R/W
IO-Link standard variables
Device
access locks
12
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit
4..15:
Parameter (write)
access lock
Data storage lock
Local para-
meterisation lock
Local user interface
lock
Reserved
16 bit
Yes
0
R/W
Name of
manufacturer
16
“halstrup-walcher GmbH”
String
R
Manufacturer
text
17
“www.hwg.eu”
String
R
Product
name
18
Dependent on device type,
e.g. “PSD422-8H”
String
R
Product ID
19
“PSD”
String
R
Product text
20
“Positioning System”
String
R
Serial
number
21
As a 5-character string,
e.g. “00042”
String
R
Hardware
version
22
e.g. “V1.0”
String
“V1.0”
R
Firmware
version
23
e.g. “V1.0”
String
“V1.0”
R
Application-
specific
marking
24
Any text (max. 16 characters)
String
“”
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 10 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Status requests
Status byte
64
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4:
Bit 5:
Bit 6:
Bit 7:
Bit 8:
Bit 9:
Bit 10:
Bit 11:
Bit 12:
Bit 13:
Bit 14:
Bit 15:
Target position
reached
Reserved
Toggle bit
Reserved
Motor power present
Positioning run
aborted
Drive is running
Temperature
exceeded
Movement opposite
loop direction
Error
Positioning error
(block)
Manual displacement
Incorrect target value
Motor power was
missing
Positive range limit
Negative range limit
0..FFFFh
16 bit
R
Actual rpm
66
Current speed in rpm
15 bit
R
Write actual
position
67
If this parameter is set to 0 and
the subsequent write command
is the actual position (ISDU 68),
the writing of the actual position
is suppressed.
0…1
8 bit
No
0
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 11 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Status requests
Actual
position
68
Current actual position,
value in 1/100 mm
(For default values of
numerator, ISDU 116 and
denominator, ISDU 117 and
spindle pitch 4 mm)
Writing to this index number
causes the current position to
be “referenced” to the
transferred value.
Writing is only possible when
stationary.
31 bit
No
R/W
Actual
current
69
Actual current;
in mA
16 bit
R
Max. actual
current
during last
run
70
Max. actual current during last
run,
in mA
16 bit
R
U control
71
Current supply voltage to
control unit, in 0.1 V
16 bit
R
U motor
72
Current supply voltage to
motor,
in 0.1 V
16 bit
R
Device
temperature
73
Internal device temperature
in °C
(Accuracy: ± 5 K)
± 15 bit
R
Production
date
76
Year and week of manufacture
(given as an integer)
YYWW
16 bit
R
Serial
number
77
Device serial number
0..
65535
16 bit
R

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 12 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Status requests
Device type
78
The respective device type
from the PSD series (the last
2 digits of the 5-digit numbers
refer to the diameter of the
output shaft,
e.g. 42208 8 mm shaft):
40105, 40108, 40114, 40308,
40314, 41105, 41108, 41114,
41308, 41314, 42208, 42214,
42414, 42614, 42814, 43208,
43214, 43414, 43614, 43814,
48005, 48008, 48014, 48108,
48114, 49005, 49008, 49014,
49108, 49114
16 bit
R
Software
version
79
Software version number
16 bit
R
Number of
steps in
second
positioning
82
Number of steps that the drive
moved in the second
positioning. Thus it can be
evaluated if there was a step
loss.
(available from firmware V19)
32 bit
R
Raw position
of absolute
measure-
ment unit
83
Raw value of actual position
(4096 steps per motor rotation)
value range [-2016 …2016]
motor shaft rotations
(available from firmware V19)
± 31 bit
R
Number of
sectors in
Modulo mode
84
Dependent of the scaling
(numerator/denominator, see
ISDU 116 and 117) and the
modulo range (see ISDU 185
and 186).
If the modulo mode is active,
the value should not exceed the
value 10,000 (if necessary,
modify the scaling or the
modulo range).
(available from firmware V19)
16 bit
R

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 13 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Status requests
Available
additional
functions
85
The value indicates which
additional functions are
available. The individual bits
indicate the availability of a
certain additional function. If the
bit is set, the corresponding
additional function is available.
Bit 0: Modulo mode
Bit 1: Changeover of
parameter set
Bit 2: Target speed in process
data
(available from firmware V19)
16 bit
R

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 14 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Run commands
Write
command
byte
109
If this parameter is set to 0 and
the subsequent write command
is the command byte
(ISDU 110), the writing of the
command byte is suppressed.
0…1
8 bit
No
0
R/W
Command
byte
110
Bit 0:
Bit 1:
Bit 2:
Bit 4:
Bit 6:
Bit 8-9:
Bit 13:
Bit 14:
Manual run to larger
values
Manual run to smaller
values
Transfer target value
(When transferring
the target value with
the aid of process
data, the target value
is accepted only if
this bit is set.)
Release, the axis is
only driven when the
bit is set
Run without loop
Changeover of
parameter set
(available from
firmware V19 for the
variants with the
feature "software
modules" = "S" or "Z")
Toggle bit
Error Acknowledge
(available from
firmware V19)
16 bit
No
0
R/W
All other bits are reserved and
must be set to 0
Write target
value
111
If this parameter is set to 0 and
the subsequent write command
affects the target position
(ISDU 112), the writing of the
target value is suppressed.
0…1
8 bit
No
0
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 15 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
Run commands
Target value
112
Target position
Value in 1/100 mm (for default
values of numerator, ISDU 116
and denominator, ISDU 117
and spindle pitch 4 mm)
31 bit
No
0
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 16 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Positioning values”parameter group
Direction of
rotation
115
0: clockwise (when looking at
the output shaft)
1: counter clockwise
Writing is only possible when
standing still.
0 or 1
8 bit
Yes
0
R/W
Actual value
assessment
numerator
116
These values allow you to apply
any resolution to the drive that
you wish.
For a numerator factor of 400,
the spindle pitch/resolution is
stated in the denominator factor
e.g.: spindle pitch 1.5 mm with
resolution 1/100 mm:
numerator = 400,
denominator = 150
Writing is only possible when
standing still.
1...
10000
16 bit
Yes
400
R/W
Actual value
assessment,
denominator
117
1...
10000
16 bit
Yes
400
R/W
Write
referencing
value
118
If this parameter is set to 0 and
the subsequent write command
affects the referencing value
(ISDU 119), the writing of the
referencing value is
suppressed.
0…1
8 bit
No
0
R/W
Referencing
value
119
Correction factor for the target,
actual and limit switch values
Writing is only possible when
standing still.
31 bit
Yes
0
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 17 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Positioning values”parameter group
Upper
mapping end
120
Definition of the positioning
range relative to the absolute
value encoder
Permissible values
for
PSD401/411/422/432/480/490:
(current position
+ 3 rotations) …
(current position
+ 4,029 rotations)
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the
gear ratio (see chapter 3.3.).
Ineffective in modulo mode.
Writing is only possible when
standing still.
31 bit
Yes
See
chap. 3.3
R/W
Upper limit
121
Maximum permitted target
position
Permissible values
for
PSD401/411/422/432/480/490:
Upper mapping end
- 1,200 .. 1,611,600 *
denominator/numerator
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the
gear ratio (see chapter 3.3.).
Ineffective in modulo mode.
31 bit
Yes
See
chap.3.3
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 18 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Positioning values”parameter group
Lower limit
122
Minimum permissible target
position
Permissible values
for
PSD401/411/422/432/480/490:
Upper mapping end
- 1,200 .. 1,611,600 *
denominator/numerator
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the
gear ratio (see chapter 3.3.).
Ineffective in modulo mode.
31 bit
Yes
See
chap.3.3
R/W
Positioning
window
123
*)
Permissible difference between
target and actual values for the
“position reached” bit
The maximum setting value
changes according to the same
factor as the resolution.
Value range for standard
settings of numerator
(ISDU 116) and denominator
(ISDU 117): 1 .. 100 steps
0.0025…
0.25
rotations
16 bit
Yes
2
R/W
*) For the variants with the option “changeover of parameter set”(i.e. variants with the feature
“software modules”= “S”or “Z”) this ISDU has 4 sub-indices (see chapter “changeover of
parameter set”).

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 19 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Positioning values”parameter group
Loop length
124
Minimum number of
increments, in which the drive
runs to a target in a specified
direction.
Value in increments
(0 no loop)
The sign determines the
direction of the loop
(positive loop run to larger
values;
negative loop run to smaller
values)
Value range for standard
settings of numerator
(ISDU 116) and denominator
(ISDU 117):
-4,000 …-10 steps and
10 ... 4,000 steps and 0
Ineffective in modulo mode.
(Exception: The sign of the loop
length also defines the direction
from which readjustment takes
place in modulo mode.)
Writing is only possible when
standing still.
0.025 ...
10
rotations
or
-0.025...
-10
rotations
or
0
31 bit
Yes
250
R/W
Read-
justment
126
0 = without readjustment
1 = with readjustment
8 bit
0
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_J_ENG 20 2022-09-13
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Speed”parameter group
Target speed
(rpm) for
positioning
runs
137
*)
Maximum target speed to be
used for positioning runs
Value in rpm
See
chap. 3.3
16 bit
Yes
See
chap. 3.3
R/W
Target speed
(rpm) for
manual runs
138
*)
Maximum target speed to be
used for manual runs
Value in rpm
See
chap. 3.3
16 bit
Yes
See
chap. 3.3
R/W
Acceleration
1
139
*)
Value in rpm per second
See
chap. 3.3
16 bit
Yes
See
chap. 3.3
R/W
Deceleration
1
141
*)
Value in rpm per second
See
chap. 3.3
16 bit
Yes
See
chap. 3.3
R/W
Speed limit
(rpm) for run
abort
143
*)
Value in % of the target rpm
30...90
16 bit
Yes
30
R/W
*) For the variants with the option “changeover of parameter set”(i.e. variants with the feature
“software modules”= “S”or “Z”) this ISDU has 4 sub-indices (see chapter “changeover of
parameter set”).