halstrup-walcher PSD4 Series Operating and installation instructions

Bus description
PSD4xx positioning system –IO-Link

General
7100.006434_Bus description_PSD4xx_IO_G_ENG 2 17.08.2020
halstrup-walcher GmbH
Stegener Straße 10
79199 Kirchzarten
Tel. [phone]
[email protected]
www.halstrup-walcher.com
©2020, Kl
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_G_ENG 3 17.08.2020
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Table of contents
1General ... 4
2Start-up 5
3Description of IO-Link 7
3.1. Status LEDs.................................................................................................7
3.2. Table of entries implemented from object dictionary..............................8
3.3. Table of Min-, / Max- and Default Values................................................20
3.4. Definition of process data........................................................................22
3.5. Detailed description of bits in the status byte........................................22
3.6. Detailed description of control bits.........................................................26
4Functions 27
4.1 Starting a positioning run........................................................................27
4.2 Types of positioning................................................................................28
4.2.1 Positioning run with loop...................................................................28
4.2.2 Positioning run without loop.............................................................28
4.2.3 Manual run..........................................................................................29
4.3 Velocity, acceleration and deceleration..................................................29
4.4 Maximum start-up and operating current..............................................29
4.5 Behaviour of the drive in case of blocking .............................................30
4.6 Behaviour of the drive if it is turned manually (readjustment function)
30
4.7 Calculate the absolute physical position ................................................31
4.8 Set the spindle pitch ................................................................................34
4.9 Aborted run when the master fails .........................................................34
4.10 Reference runs......................................................................................35
4.11 Run drive in reverse..............................................................................35
5Technical data 36
6Notes 36

General
7100.006434_Bus description_PSD4xx_IO_G_ENG 4 17.08.2020
1 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

Start-up
7100.006434_Bus description_PSD4xx_IO_G_ENG 5 17.08.2020
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2 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 positioning unit 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_G_ENG 6 17.08.2020
To turn on the PSD4xx, install the PSD in the correct position according to the instructions in
the installation manual. You can find information about installing the drive at the following
link: www.halstrup-walcher.de/technicaldocu
The PSD must be grounded before connecting it to the power supply cable. The grounding
cable must be connected to the correct position on the PSD4xx and to the 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 PSD 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_G_ENG 7 17.08.2020
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3 Description of IO-Link
Note: For the IO-Link interface, IEC 61131-9 Version 1.1.2 is used as the SDCI
protocol
3.1. 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_G_ENG 8 17.08.2020
3.2. 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_G_ENG 9 17.08.2020
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Designation
ISDU
no.
Function
Range
of
values
Back
up?
Delivery
state
R/W
IO-Link standard variables (continuation)
Device
access locks
12
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4..15:
Parameter (write)
access lock
Data storage lock
Local
parameterisation 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 gearbox 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_G_ENG 10 17.08.2020
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

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 11 17.08.2020
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Designation
ISDU
no.
Function
Range
of
values
Back
up?
Delivery
state
R/W
Status requests (continuation)
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
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 4mm)
Writing to this index number causes
the current position to be
“referenced” to the transferred
value.
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: ±5K)
±15 bit
R

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 12 17.08.2020
Designation
ISDU
no.
Function
Range
of values
Bac
kup?
Delivery
state
R/W
Status requests (continuation)
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
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 8mm shaft):
40105, 40108, 40114, 40308,
40314, 41105, 41108, 41114,
41308, 41314, 42208, 42214,
42614, 42814, 43208, 43214,
43614, 43814
16 bit
R
Software
version
79
Software version number
16 bit
R

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 13 17.08.2020
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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 13:
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
Toggle bit
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
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_G_ENG 14 17.08.2020
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
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
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
31 bit
Yes
0
R/W
Upper
mapping end
120
Definition of the positioning range
relative to the absolute value
encoder
Permissible values:
(current position + 3 revolutions)
(current position + 4029
revolutions)
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the
gear ratio.
31 bit
Yes
See
chap.3.3
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 15 17.08.2020
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Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Positioning values”parameter group (continuation)
Upper limit
121
Maximum permitted target
position
Permissible values: (upper
mapping end - 1200.. 1611600 *
denominator/numerator)
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the
gear ratio.
31 bit
Yes
See
chap.3.3
R/W
Lower limit
122
Minimum permissible target
position
Permissible values: (Upper
mapping end - 1200..1611600 *
denominator/numerator)
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the
gear ratio.
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
Loop length
124
Minimum number of increments,
in which the drive runs to a target
in a specified direction.
Value in increments (0 no
reference loop)
The sign determines the direction
of the reference loop (positive 
reference loop to larger values;
negative reference loop drive
to smaller values)
Value range for standard settings
of numerator (ISDU 116) and
denominator (ISDU 117):
-4000…-10 steps and 10...4000
steps and 0
0.025…
10
rotations
or
-0.025...
-10
rotations
or
0
31 bit
Yes
250
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 16 17.08.2020
Designation
ISD
U
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Positioning values”parameter group (continuation)
Readjustment
126
0 = Without readjustment
1 = With readjustment
8 bit
0
R/W
“Speed”parameter group
Target speed
(rpm) for
positioning
runs
137
Max. rpm 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 rpm 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 sec.
See
chap.3.3
16 bit
Yes
See
chap.3.3
R/W
Deceleration
1
141
Value in rpm per sec.
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
“Torque”parameter group
Max. start-up
current
147
in [mA]
See
chap.3.3
16 bit
Yes
See
chap.3.3
R/W
Maximum
operating
current
148
in [mA]
See
chap.3.3
16 bit
Yes
See
chap.3.3
R/W
Max. holding
current at end
of run
149
in [mA]
See
chap.3.3
16 bit
Yes
See
chap.3.3
R/W
Maximum
holding
current
150
in [mA]
See
chap.3.3
16 bit
Yes
See
chap.3.3
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 17 17.08.2020
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Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Time”parameter group
Time elapsed
until speed
falls below
rpm limit for
aborting run
154
Value in ms
50... 500
16 bit
Yes
200
R/W
Time period
for start-up
current
155
Value in ms
10…1000
16 bit
Yes
200
R/W
Duration of
max. holding
current at
end of run
157
Value in ms
0…1000
16 bit
Yes
200
R/W
UMot filter
161
Average time for UMot voltage
measurement (in msec
increments)
100...
1000
16 bit
Yes
100
R/W
Communi-
cation
timeout
162
Value in ms
If the value is 0, the
communication timeout is
deactivated. A value > 0
defines the time within which
the master must send a new
message to maintain the
connection. A timeout results
in an abortion of the run.
0…10000
16 bit
Yes
0
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 18 17.08.2020
Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Other”parameter group
General
purpose
register
169
Freely-usable register
±31bit
Yes
0
R/W
UMot limit
179
Voltage limit for bit “Motor power
present”given in increments of
0.1V
180...240
16 bit
Yes
185
R/W
Tempera-
ture limit
180
Upper temperature limit in °C
10...80
16 bit
Yes
80
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 19 17.08.2020
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Designation
ISDU
no.
Function
Range of
values
Back
up?
Delivery
state
R/W
“Other”parameter group (continuation)
Delivery
state
194
Writing a “-5”:
Resets the drive (corresponds
to switching the control
voltage off and on again)
Writing a “-3”:
Resets all parameters to the
delivery states without saving
the parameters in EEPROM,
without a start-up reference
loop and without positioning
in the middle of the
measurement range.
Writing a “-1”:
Resets all parameters to the
delivery states without saving
the parameters in EEPROM.
The drive then performs a
start-up reference loop and
positions itself in the middle of
the measurement range.
Writing a “0”:
No action
Writing a “1”:
Saves the parameter in
EEPROM
Reading after booting:
0 Memory cont. correct
≠ 0 Memory cont. incorrect
Reading after saving:
0 Saving completed
≠ 0 Saving is not yet
complete or terminated with
errors (saving can take up to
2000ms)
-5…1
(during
writing)
0...2
(during
reading)
15 bit
No
0
R/W

Description of IO-Link
7100.006434_Bus description_PSD4xx_IO_G_ENG 20 17.08.2020
3.3. Table of Min-, / Max- and Default Values
Note: The operating current setting is optimised for the nominal rated speed of the
respective device model. The more the set speed deviates from the nominal rated
speed (rpm), the greater the actual power consumption deviates from the set
current value.
Note: Setting the value for the holding current to 0 results in a current
consumption by the motor circuit of approx. 50 mA.
Device type
PSD401 /
PSD411
- 5V
PSD401 /
PSD411
- 8H/14H
PSD403 /
PSD413
- 8H/14H
PSD422 /
PSD432
- 8V
PSD422 /
PSD432
- 8H/14H
Name
ISDU
no.
Range of values
Delivery state
Upper
mapping end *)
120
-
806.400
-
806.400
-
198.498
-
806.400
-
806.400
Upper Limit *)
121
-
805.200
-
805.200
-
197.298
-
805.200
-
805.200
Lower Limit *)
122
-
-805.200
-
-805.200
-
-197.298
-
-805.200
-
-805.200
Target rpm
Positioning
137
1…800
200
1…500
200
1…250
50
1…1000
200
1…500
200
Target rpm,
Manual run
138
1…800
70
1…500
70
1…250
17
1…1000
70
1…500
70
Acceleration
139
1…5000
1000
1…5000
1000
1…1250
250
1…5000
500
1…5000
500
Deceleration
141
1…5000
2000
1…5000
2000
1…1250
500
1…5000
2000
1…5000
2000
Maximum
start-up current
147
5…2000
1000
5…2000
1000
5…2000
1000
5…4000
2000
5…4000
2000
Maximum
operating
current
148
5…2000
750
5…2000
750
5…2000
750
5…4000
1500
5…4000
1500
Max. holding
current at the
end of run
149
0…600
60
0…600
60
0…600
60
0…800
80
0…800
80
Maximum
holding current
150
0…300
30
0…300
30
0…300
30
0…400
40
0…400
40