halstrup-walcher PSD4 Series User manual

Bus description
PSD4xx positioning system –EtherCAT

General
7100.006514_Bus description_PSD4xx_EC_F_EN 2 2022-12-12
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 device model without
documenting such development in each individual case. The manufacturer will be happy to
determine whether this manual is up-to-date.

General
7100.006514_Bus description_PSD4xx_EC_F_EN 3 2022-12-12
Table of Contents

General
7100.006514_Bus description_PSD4xx_EC_F_EN 4 2022-12-12
General
This bus 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
7100.006514_Bus description_PSD4xx_EC_F_EN 5 2022-12-12
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
7100.006514_Bus description_PSD4xx_EC_F_EN 6 2022-12-12
2.1 Setting the “Explicit Device ID” and the “Configured Station Alias”
The device’s “Explicit Device ID” can be set using the two rotary switches (address switch
value > 0). If the address is set to value 0, the “Explicit Device ID” can be set using SDO #2026. In
this case, the value is only accepted into the ESC and SII after saving (see SDO #204F) and
restarting.
Additionally a “Configured Station Alias” can be assigned via the bus of the EtherCAT master.
This value can also be set using SDO #2026. In this case, the value is only accepted into the ESC
and Sll after saving (see SDO #204F) and restarting.
2.2 Switching on the device
After connecting the supply voltage, you can begin positioning or manual runs immediately.
You can find information about installing the drive as well as electrical connections and pin
assignments 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.
2.3 Generating the delivery state (without the control unit)
The drive can be reset to the delivery state even if no control unit is present.
Generate the delivery state as follows:
1) Separate the device from the electrical power supply.
2) Set the address switches to 98.
3) Switch on the device (control unit and motor voltage).
4) The yellow LED now flashes for 10 seconds at 10 Hz. If, during this time period, the address
is set to 99, the drive will reset all parameters to the delivery state, save this setting and bring
the axle to the mid-position.
5) Set the address switch to 00 in order to complete the delivery state.
6) Switch the device off.
The 10-second period will be ended early if any communication is established.

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 7 2022-12-12
Description of EtherCAT
3.1 EtherCAT interface with CoE protocol (CANopen over EtherCAT)
The EtherCAT interface uses the CANopen over EtherCAT protocol in accordance with
ETG1000.6 Section 5.6:
One transmit and one receive SDO per device
One asynchronous transmit and receive PDO, active by default
3.2 Status LEDs
The following LEDs are located under the sealing plug:
1
V_Motor
Yellow LED = Motor supply voltage
2
P1L/A
Green LED = Link/Activity
P2L/A
Green LED = Link/Activity
3
Run
Green LED = Signals the ESM status
Error
Red LED = Signals an error
4
X10
Address switch x10
5
X1
Address switch x1
Meaning of the LEDs:
Yellow LED motor supply voltage (V_Motor)
Off
Motor voltage too low or too high
On
Motor voltage is OK
Flashing at 0.5 Hz
Motor voltage is OK and drive is in the delivery state

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 8 2022-12-12
Each of the ports (P1/P2) has an associated green LED for the “Link” and "Activity" states.
For each port (P1/P2), the following states are possible:
Off
No connection
On
Line connection is active, no data activity
Flashing at 10 Hz
Line connection is active, data transfer active
The green “Run” LED signals the ESM status:
Off
INIT
Flashing at 2.5 Hz
PRE-OPERATIONAL
Flashing at 1 Hz
SAFE-OPERATIONAL
On
OPERATIONAL
The red “Error” LED signals an error:
Off
No error
Single flashes at 1 Hz
Local error, application is changing ESM status
Double flashes at 1 Hz
Watchdog timeout
Flashing at 2.5 Hz
Configuration error
3.3 Table of entries implemented from object dictionary
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Device type
1000
Device type
0
0
R
Software
description
100A
Identifies the software of the
EtherCAT drives; returns the string
“PSD4xxIE/ECAT” when read
R
Identity
1018
Sub index 0: No. of indices (= 4)
Sub 1: Vendor-ID (= 0x000002D8)
Sub : Product code
Sub 3: Revision number
(= 0x00010000)
Sub 4: Serial number
8 bit
32 bit
32 bit
32 bit
32 bit
4
R
R
R
R
R

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 9 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Receive
PDO 1
mapping
1600
Sub index 0: No. of indices (= 2)
Sub 1: 0x20240010
Sub 2: 0x20010020
8 bit
32 bit
32 bit
2
R
R
R
Transmit
PDO 1
mapping
1A00
Sub index 0: No. of indices (= 3)
Sub 1: 0x20250010
Sub 2: 0x20300010
Sub 3: 0x20030020
8 bit
32 bit
32 bit
32 bit
3
R
R
R
R
SM Comm
Types
1C00
Sub index 0: No. of indices (= 4)
Sub 1: SM0 (= 1)
Sub 2: SM1 (= 2)
Sub 3: SM2 (= 3)
Sub 4: SM3 (= 4)
8 bit
8 bit
8 bit
8 bit
8 bit
4
R
R
R
R
R
SM0 PDO
Assignment
1C10
Sub index 0: No. of indices (= 0)
8 bit
0
R
SM3 PDO
Assignment
1C13
Sub index 0: No. of indices (= 1)
Sub 1: 0x1A00 (1. TxPDO)
8 bit
16 bit
1
R
General
purpose
register
2000
0...10
10 general purpose registers
Sub index 0: No. of indices (= 10)
Sub 1…10: free register
8 bit
16 bit
Yes
10
0
R
R/W
Target value
2001
Target position in 1/100 mm
(for a 4 mm spindle and default values
of numerator, (SDO #2010) and
denominator (SDO #2011)).
This value can only be written in the
"pre-operational" state.
31 bit
No
0
R/W

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 10 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Actual value
2003
Current actual position in 1/100 mm
(for a 4mm spindle and default values
of numerator, (SDO #2010) and
denominator (SDO #2011)).
Writing to this index number causes
the current position to be “referenced”
to the transferred value
Writing only possible when at a
standstill.
31 bit
No
R/W
Referencing
value
2004
Correction factor for the target, actual
and end limit values.
Writing only possible when at a
standstill.
31 bit
Yes
0
R/W
Drag error
2005
Reserved
Positioning
window
2006
Permissible difference between target
and actual values for the “target
position reached” bit in 1/100 mm
(for a 4 mm spindle and default values
of numerator and denominator)
The maximum setting value changes
according to the same factor as the
resolution.
Writing only possible when at a
standstill.
1…100
16 bit
equals
0.0025
…
0.25
rotations
Yes
2
R/W
Position
scaling,
numerator
2010
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 only possible when at a
standstill.
1...10000
16 bit
Yes
400
R/W
Position
scaling,
denominator
2011
1...10000
16 bit
Yes
400
R/W

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 11 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Target speed
2012
Maximum rpm to be used for
positioning runs;
value in rpm
See
chap.
3.4
16 bit
Yes
See
chap.
3.4
R/W
Target speed
for manual
run
2013
Maximum rpm to be used for manual
runs;
value in rpm
See
chap.
3.4
16 bit
Yes
See
chap.
3.4
R/W
Maximum
torque
2014
Applies after the end of the start-up
phase (during the start-up phase, the
value of parameter #2018 applies);
value in cNm
See
chap.
3.4
16 bit
Yes
See
chap.
3.4
R/W
Upper limit
2016
Maximum permitted target position
Permissible values:
(upper mapping end
- 1200 .. 1611600 *
numerator/denominator)
For models with an auxiliary gearbox,
the range of values is reduced in
accordance with the gear ratio.
Writing only possible when at a
standstill.
31 bit
Yes
101200
R/W
Lower limit
2017
Min. 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.
Writing only possible when at a
standstill.
31 bit
Yes
1200
R/W
Maximum
start-up
torque
2018
Value in cNm
See
chap.
3.4
16 bit
Yes
See
chap.
3.4
R/W

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 12 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Time period
for start-up
torque
2019
Time period during which the max.
start-up torque (SDO #2018) is
applied;
value in ms
10...
1000
16 bit
Yes
200
R/W
Speed limit
for aborting
run
201A
Value in % of the target speed
30...90
16 bit
Yes
30
R/W
Time elapsed
until speed
falls below
speed limit for
aborting run
201B
Value in ms
50...500
16 bit
Yes
200
R/W
Acceleration
201C
Value in rpm per second
See
chap.
3.4
16 bit
Yes
See
chap.
3.4
R/W
Deceleration
201D
Value in rpm per second
See
chap.
3.4
16 bit
Yes
See
chap.
3.4
R/W
Length of loop
201F
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 reference loop to
larger values; negative reference
loop to smaller values)
0.025…
10
rotations
or
-0.025…
-10
rotations
or
31 bit
Yes
250
R/W
Acceleration
2
2020
Reserved
Deceleration
2
2021
Reserved

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 13 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
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
Bit 3: Reserved
Bit 4: Release: the axle will only
run if bit is set.
Bit 5: Reserved
Bit 6: Run without a reference
loop
Bit 7: Reserved
Bit 8: Reserved
Bit 9: Reserved
Bit 13: Toggle bit
All other bits must be set to 0
This value can only be written in the
"pre-operational" state.
16 bit
No
0
R

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 14 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Status word
2025
Bit 0: Target position reached
Bit 1: Reserved
Bit 2: Toggle bit
Bit 3: Reserved
Bit 4: Power supply to motor
available
Bit 5: Positioning run aborted
Bit 6: Drive is running
Bit 7: Max temp. exceeded
Bit 8: Run in opposite direction to
loop
Bit 9: Error
Bit 10: Positioning error
(obstruction)
Bit 11: Manual rotation
Bit 12: Incorrect target value
Bit 13: Power was unavailable to
motor
Bit 14: Positive range limit
Bit 15: Negative range limit
0…
FFFFh
16 bit
R
Address
2026
Explicit Device ID
Write:
When writing, the value is only
accepted into the ESC and Sll after
saving (see SDO #204F) and
restarting.
This value will only be used if the
address switches are set to value 0.
16 bit
Yes
0
R/W

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 15 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Upper
mapping end
2028
Definition of the positioning range
relative to the absolute value encoder
Permissible values:
(actual position + 3 rotations) …
(actual position + 4,029 rotations)
Writing only possible when at a
standstill.
31 bit
Yes
102400
R/W
Maximum
holding
torque
202B
Holding torque at standstill in cNm
(after the phase “max. holding torque
at end of run”)
See
chap.
3.4
16 bit
Yes
See
chap.
3.4
R/W
Direction of
rotation
202C
0: Clockwise rotation to larger values
(if looking at the output shaft)
1: Anti-clockwise rotation to larger
values
Writing is only possible when at a
standstill.
0 or 1
16 bit
Yes
0
R/W
Idle period
202E
Reserved
Actual speed
2030
Value in rpm
15 bit
R
Max. current
during last
run
2031
Maximum current occurring during the
most recent run (the start-up phase,
during which the start-up torque
applies, see SDOs #2018/2019, and
braking phase are not taken into
account);
value in mA
16 bit
R
Actual current
2033
Actual current, in mA
16 bit
R
U control
203A
Current supply voltage to control unit,
in 0.1 V
16 bit
R
U motor
203B
Current supply voltage to motor,
in 0.1 V
16 bit
R

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 16 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
UMot limit
203C
Voltage limit for bit 4 (“Power supply
to motor available”); in 0.1 V
A positioning run or manual run can
only begin if the motor voltage is
higher than the value set here. During
the run, the voltage may fall to 17.5 V.
180…
240
16 bit
Yes
185
R/W
UMot filter
203D
Average time for motor voltage
measurement;
value in ms
100…
1000
16 bit
Yes
100
R/W
Temp. limit
203E
Upper temperature limit in °C
10...80
16 bit
Yes
80
R/W
Device
temperature
203F
Internal device temperature in °C
16 bit
R
Production
date
2040
Year and week of manufacture
(given as an integer)
YYWW
16 bit
R
Serial number
2041
Device serial number
0…
65535
16 bit
R
Max. holding
torque at end
of run
2042
Value in cNm
See
chap.
3.4
16 bit
Yes
See
chap.
3.4
R/W
Duration of
max. holding
torque at end
of run
2043
Time period during which the holding
torque is applied at completion of run;
value in ms
0...1000
16 bit
Yes
200
R/W
Waiting time
for brakes
2045
Reserved
Drag error
correction
2046
Reserved
Readjustment
2047
Adjustment when at a standstill
0 off;
1 on
0…1
8 bit
Yes
0
R/W
Configuration
for connection
failure
2049
Reserved

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 17 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Safe position
for connection
failure
204A
Reserved
Repeat time
for safety run
204B
Reserved
Device type
204D
Device type within the PSD range as
a string (e.g. “PSD403-18-H”)
R
Version
204E
Software version number
16 bit
R
Delivery state
204F
Writing a “-6”:
Resets the drive (corresponds to
switching the control voltage off and
back on)
Writing a “-5”:
Sets the values of all parameters to
the delivery state, saves the
parameters in EEPROM, then
positions the drive in the middle of the
measurement range *)
(Station name and IP address are not
affected)
Writing a “-4”:
Sets the values of all parameters to
the last values saved by the user,
then positions the drive in the middle
of the measurement range *)
(Station name and IP address are not
affected)
Writing a “-3”:
Sets the values of all parameters to
the delivery state, deletes the station
name and IP address and saves the
parameters in EEPROM
Writing a “-2”:
Sets the values of all parameters to
the last values saved by the user,
without saving the parameters in
EEPROM (Station name and IP
address are not affected)
Continues on next page
-6 ... -1
or 1
(during
writing)
±15 bit
No
R/W

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 18 2022-12-12
Designation
Index
no.
Function
Range
of
values
Back-
up?
De-
livery
state
R/W
Delivery state
204F
Writing a “-1”:
Sets the values of all parameters to
the delivery state, without saving the
parameters in EEPROM
(Station name and IP address remain
unaffected)
Writing a “1”:
Saves the parameters in EEPROM
Writing only possible when at a
standstill.
-6 ... -1
or 1
(during
writing)
±15 bit
No
R/W
*) The positioning run to the middle of the measurement range can be aborted at any time by
setting control word = 0 with SDO #2024 (if state is not "operational") or via the PDO control word.
Furthermore, in “operational” state, the PDO control word is ignored during the positioning run to
the middle of the measurement range (unless it changes). Thus, a run to the middle of the range
can also be aborted by changing the PDO control word. Run commands issued before the
positioning run to the middle of the range will not be automatically resumed after this run has been
completed, (i.e. the PDO control word 0x14 and the old target value do not result in the drive
moving to this position).

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 19 2022-12-12
3.4 Table of device-dependent min., max. and default values
Note: The operating torque 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 difference between the actual power consumption of the
motor circuit and the set value.
Note: Setting the value for the max. holding torque to 0 results in a maximum current
consumption by the motor circuit of approx. 50 mA
Device type
PSD
401/411
- 5V
PSD
401/411
- 8H/14H
PSD
403/413
- 8H/14H
PSD
422/432
- 8V
PSD
422/432
- 8H/14H
Name
Index
no.
Range of values
Delivery state
Upper mapping
end *)
2028
806,400
806,400
198,498
806,400
806,400
Upper limit *)
2016
805,200
805,200
197,298
805,200
805,200
Lower limit *)
2017
-805,200
-805,200
-197,299
-805,200
-805,200
Target speed for
positioning run
2012
1…800
200
1…500
200
1…250
50
1…1000
200
1…500
200
Target speed,
manual run
2013
1…800
70
1…500
70
1…250
17
1…1000
70
1…500
70
Acceleration
201C
1…5000
1000
1…5000
1000
1…1250
250
1…5000
500
1…5000
500
Deceleration
201D
1…5000
2000
1…5000
2000
1…1250
500
1…5000
2000
1…5000
2000
Maximum
start-up torque
2018
30…90
50
30…90
50
115…350
190
50…240
120
50…240
120
Maximum torque
2014
30…80
40
30…80
40
115…300
150
50…240
100
50…240
100
Maximum
holding torque at
end of run
2042
0…80
30
0…80
30
0…325
120
0…200
70
0…200
70
Maximum
holding torque
202B
0…60
20
0…60
20
0…245
80
0…150
50
0…150
50

Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 20 2022-12-12
Device type
PSD
424/434
- 14H
PSD
426/436
- 14H
PSD
428/438
- 14H
PSD
480/490
- 5V
PSD
480/490
- 8H/14H
PSD
481/491
- 8H/14H
Name
Inde
x no.
Range of values
Delivery state
Upper
mapping end
*)
2028
388,800
256,000
196,683
806.400
806.400
198.498
Upper limit *)
2016
387,600
254,800
195,483
805.200
805.200
197.298
Lower limit *)
2017
-387,600
-254,800
-195,483
-805.200
-805.200
-197.298
Target speed
for
positioning
run
2012
1…482
100
1…317
63
1…250
50
1…800
200
1…500
200
1…250
50
Target
speed,
manual run
2013
1…482
34
1…317
22
1…250
17
1…800
70
1…500
70
1…250
17
Acceleration
201C
1…2411
240
1…1587
150
1…1250
125
1…5000
1000
1…5000
1000
1…1250
250
Deceleration
201D
1…2411
960
1…1587
635
1…1250
500
1…5000
2000
1…5000
2000
1…1250
500
Maximum
start-up
torque
2018
100…480
240
5…4000
2000
5…4000
2000
9…30
15
9…30
15
26…120
60
Maximum
torque
2014
100…480
200
5…4000
1500
5…4000
1500
9…30
13
9…30
13
36…120
50
Maximum
holding
torque at end
of run
2042
0…400
140
0…800
80
0…800
80
0…25
9
0…25
9
0…100
35
Maximum
holding
torque
202B
0…300
100
0…400
40
0…400
40
0…19
7
0…19
7
0…75
25
*) The min. and max. values for the parameters cannot be specified because they are dependent
on the current scaling. The value is valid for the standard scaling (400 increments per rotation).