halstrup-walcher PSE2 C Series User manual

Instruction Manual PSE2xxC Document 7100.004304E 07/2017
Instruction Manual
PSE2xxC
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten
Tel.: [phone]
Fax: [phone]
E-Mail: [e-mail]
Internet:www.halstrup-walcher.de

Instruction Manual PSE2xxC
2
Table of Contents
1Safety 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............................................................................................................................4
2Device description ...................................................................................................................5
2.1 Features...........................................................................................................................5
2.2 Installation ........................................................................................................................6
2.3 Electrical connection.........................................................................................................6
2.4 Pin assignment.................................................................................................................6
2.5 Setting the device address and baud rate (Option)...........................................................7
2.6 Start-up.............................................................................................................................7
2.7 CAN Bus...........................................................................................................................8
3Sequence of positioning ........................................................................................................20
4Specials.................................................................................................................................20
5Technical data.......................................................................................................................27
6Dimension drawings ..............................................................................................................29

Instruction Manual PSE2xxC
3
Purpose of instruction manual
This instruction manual describes the features of the PSE2xxC positioning system
and provides guidelines for its use.
Improper use of these devices or failure to follow these instructions may cause injury
or equipment damage. Every person who uses the devices must therefore read the
manual and understand the possible risks. The instruction manual, and in particular
the safety precautions contained therein, must be followed carefully. Contact the
manufacturer if you do not understand any part of this instruction manual.
Handle this manual with care:
It must be readily available throughout the lifecycle of the devices.
It must be provided to any individuals who assume responsibility for operating the
device at a later date.
It must include any supplementary materials provided by the manufacturer.
The manufacturer reserves the right to continue developing this device model without
documenting such development in each individual case. The manufacturer will be
happy to determine whether this manual is up-to-date.
Conformity
This device is state of the art. It complies with the legal requirements of EC
directives. This is shown by the CE mark.
© 2011
The manufacturer owns the copyright to this instruction manual. It contains technical
data, instructions and drawings detailing the devices’ features and how to use them. It
must not be copied either wholly or in part or made available to third parties.

Instruction Manual PSE2xxC
4
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.
PSE2xxC positioning systems are not stand-alone devices and may only be
used if coupled to another machine.
Always observe the operating requirements —particularly the allowed supply voltage
—indicated on the rating plate and in the “Technical data” section of this manual.
The device may only be handled as indicated in this manual. Modifications to the de-
vice are prohibited. The manufacturer is not liable for damages caused by improper
use or failure to follow these instructions. Violations of this type render all warranty
claims null and void.
1.2 Shipping, assembly, electrical connections and start-up
Assembly and the electrical connections should only be handled by professionals.
They should be given proper training and be authorized by the operator of the facility.
The device may only be operated by appropriately trained individuals who have been
authorized by the operator of the facility.
Specific safety precautions are given in individual sections of this manual.
1.3 Troubleshooting, maintenance, repairs, disposal
The individual responsible for the electrical connections must be notified immediately
if the device is damaged or if errors occur.
This individual must take the device out of service until the error has been corrected
and ensure that it cannot be used unintentionally.
This device requires no maintenance.
Only the manufacturer may perform repairs that require the housing to be opened.
The electronic components of the device contain environmentally hazardous
materials and materials that can be reused. The device must therefore be sent to a
recycling plant when you no longer wish to use it. The environment codes of your
particular country must be complied with.
1.4 Symbols
The symbols given below are used throughout this manual to indicate instances when
improper operation could result in the following hazards:

Instruction Manual PSE2xxC
5
WARNING! This warns you of a potential hazard that could lead to bodily injury up
to and including death if the corresponding instructions are not followed.
CAUTION! This warns you of a potential hazard that could lead to significant
property damage if corresponding instructions are not followed.
INFORMATION! This indicates that the corresponding information is important
for operating the device properly.
2 Device description
2.1 Features
The PSE2xxC positioning system, an intelligent, compact, complete solution for
positioning auxiliary and positioning axes, consists of an DC motor, gear power
amplifier, control electronics, absolute or partially absolute measuring system and
CANopen interface.
Variants with partially absolute measuring system (“singleturn encoder”) indicate the
position of the output shaft after power up without executing a movement. Additionally
the number of turns is being loaded out of the flash memory, thus after power up the
correct position of the output shaft will be indicated (assumed the shaft has been
turned for less than half a turn while powered down).
Variants with absolute measuring system (“multiturn encoder”) also indicate the
position of the output shaft after power up without executing a movement. To detect
the number of turns, instead of a flash memory a measurement gearbox is used. So
always the true position is indicated, even if the shaft has been moved while powered
down. This eliminates the need for a time-consuming reference run.
Connecting to a bus system simplifies the wiring. A hollow shaft with adjustable collar
or a solid shaft 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.
PSE2xxC positioning systems convert a digital positioning signal into an angle of
rotation.

Instruction Manual PSE2xxC
6
2.2 Installation
PSE2xxC with hollow shaft:
The PSE2xxC 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. 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 (see drawing).
PSE2xxC with solid shaft:
The PSE2xxC has to be fixed at the four holes on the bottom plate.
The shaft has to be connected via a clutch to avoid forces caused by tensions that
result on missing alignment from bottom plate and driven shaft.
Never apply force to the housing cover, e.g., for supporting weight.
Driving the PSE2xxC rearward is prohibited (e.g. it’s not allowed to turn
the output shaft by an external force).
2.3 Electrical connection
Open the cover, put the cable through glands and connect supply and bus to
terminals. The PSE2xxC has a 8-pin spring-type terminal for cable with a profile of
maximum 1.5 mm2.By turning the cover 90°, 3 different positions of the cable glands
are possible (see drawing).
The maximum torque of the cover screw is 0,6 Nm.
2.4 Pin assignment
Pin
Function
1
CAN GND
2
CAN_L
3
GND control + motor
4
CAN_H
5
+24V control
6
+24V motor
7
GND control + motor
8
Case

Instruction Manual PSE2xxC
7
2.5 Setting the device address and baud rate (Option)
The rotary switches for setting the device address at the bus and a 2-pin sliding
switch for setting the baud rate are located behind the terminals.
The rotary switches indicate the tens and ones places of the address selected. If the
switches are resting in the positions 00 or 01 the address is set using the CAN bus
with SDO #2026.
The delivery setting is 00, the PSE2xxC reports to the bus with the address 1.
If the switches are used to set the address (i.e. the switch setting is > 01), this value
cannot be changed via the CAN bus.
The yellow LED represents the state of the motor supply voltage, the red and yellow
LEDs represent the CANopen state.
Switch configurations:
Setting the baud rate:
1
2
OFF
OFF
baud rate is set via bus
OFF
ON
250 kBaud
ON
OFF
500 kBaud
ON
ON
125 kBaud
‘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.
2.6 Start-up
Positioning sequence (with loop)
The PSE2xxC differs between the following steps of a positioning sequence
(Presumption: the target position is always approached through forward motion):
1. New position value is larger than the current value: Position approached directly.

Instruction Manual PSE2xxC
8
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 devices with multiturn encoder
compare this position to the internal absolute encoder status. If a discrepancy is
detected, the device then sets the “flash memory or encoder 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 PSE2xxC
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).
2.7 CAN Bus
CANopen (corresponding to CiA DS 301 Version 4.02) is used as the protocol at the
CAN bus interface:
one transmit and one receive SDO per device
one asynchronous transmit and receive PDO, active by default
one heartbeat object every 500 msec
green LED = RUN-LED according CANopen:
Single flashes: CAN stop
Continuous flashing: CAN preoperational
Continuously illuminated: CAN operational
red LED = ERROR-LED according CANopen:
Off: no error
Single flashes: CAN-transmitter or -receiver has reached its warning limit
Double flashes: Guard event has occurred
Triple flashes: Sync failure
Continuously illuminated: CAN-Bus-OFF
yellow LED = Display actuator voltage
Off: no motor power
Continuously illuminated: Power available to the motor

Instruction Manual PSE2xxC
9
a) Table of entries implemented from object dictionary
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
device model
1000
returns a “0” when read
0
0
R
error register
1001
Bit 0: general error
Bit 4: communication error
8 bit
0
R
error list
1003
sub index 0: quantity of indexes
sub index 1 and 2: most recent
emergency errors
8 bit
32 bit
0
0
R
R
sync ID
1005
COB ID for the sync command
32 bit
no
80h
R/W
comm cycle
1006
communication cycle time
32 bit
no
0
R/W
sync window
1007
synchronous window time
32 bit
no
0
R/W
guard time
100C
guard time in msec
0 = off
16 bit
no
0
R/W
life time
100D
life time factor
8 bit
no
0
R/W
emcy ID
1014
COB ID for emergency message
32 bit
80h+
device
address
R
emcy inhibit
1015
inhibit time for emergency message
16 bit
no
0
R/W
consumer
heartbeat
1016
sub index 0: quantity of indexes (= 2)
sub index 1 and 2:
bit 15-0: Heartbeat time in msec
bit 23-16: node ID of producer
8 bit
32 bit
no
2
0
R
R/W
producer
heartbeat
1017
cycle time for heartbeat via PSE2xxC
0 = off
16 bit
no
500
R/W
identity
1018
sub index 0: quantity of indexes (= 4)
sub 1: Vendor-ID (= 0x000002D8)
sub 2: Product code (= 0x30313334)
sub 3: Revision number (= 0)
sub 4: Serial number (= 0)
8 bit
32 bit
32 bit
32 bit
32 bit
4
R
R
R
R
R
receive
PDO 1
communi-
cation
parameter
1400
sub index 0: quantity of indexes
sub 1: COB ID of this PDO
8 bit
32 bit
no
0
200h+
device
address
R
R/W
sub 2: PDO type
8 bit
no
0xFF
R/W
receive
PDO 1
mapping
1600
sub index 0: quantity of indexes (= 3)
sub 1: 0x20240010
sub 2: 0x00000010
sub 3: 0x20010020
8 bit
32 bit
32 bit
32 bit
3
R
R
R
R
transmit
PDO 1
communi-
cation
parameter
1800
sub index 0: quantity of indexes
sub 1: COB ID of this PDO
8 bit
32 bit
no
0
180h+
device
address
R
R/W
sub 2: PDO type
sub 3: inhibit time
8 bit
16 bit
no
no
0xFF
1000
(100ms)
R/W
R/W
sub 5: event time
16 bit
no
0
R/W
transmit
PDO 1
mapping
1A00
sub index 0: quantity of indexes (= 3)
sub 1: 0x20250010
sub 2: 0x20300010
sub 3: 0x20030020
8 bit
32 bit
32 bit
32 bit
3
R
R
R
R

Instruction Manual PSE2xxC
10
Name
Index
number
Function
Range of
value
Back
up
Delivery
State
R/W
10 general
purpose
registers
2000:
0...9
to archive any kind of data (e.g. the
function of a drive within an installation)
16 bit
yes
0
R/W
target value
2001
target position to be achieved
value in 1/100 mm (for default settings of
numerator #2010 and denominator
#2011)
31 bit
yes
0
R/W
actual value
2003
current actual position
value in 1/100 mm (for default settings of
numerator #2010 and denominator
#2011)
Writing onto this index number causes the
current position to be “referenced” onto
the transferred value
31 bit
no
R/W
referencing
value
2004
correction factor for the target, actual and
limit switch values
31 bit
yes
0
R/W
drag error
2005
maximum drag error before the ‘drag
error’ bit is set.
Value given in increments (at a resolution
of 0.5 mm)
20...1000
16 bit
yes
100
R/W
positioning
window
2006
allowed 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
5
R/W
actual value
assessment,
numerator
2010
These values can be used to set a
desired user resolution to the drive.
For a numerator factor of 400, the
denominator factor holds the spindle pitch
per resolution
e.g.: spindle pitch 1.5 mm with resolution
1/100 mm:
numerator = 400, denominator = 150
1...10000
16 bit
yes
400
R/W
actual value
assessment,
denominator
2011
1...10000
16 bit
yes
400
R/W
target rpm
posi
2012
maximum rpm to be used for positioning
runs
value in rpm
see table
16 bit
yes
see
table
R/W
target rpm
hand
2013
maximum rpm to be used for manual runs
value in rpm
see table
16 bit
yes
see
table
R/W
maximum
torque
2014
Applies after completion of start phase
(during start phase the value #2018
applies); value in cNm
see table
16 bit
yes
see
table
R/W
upper limit
2016
maximum/minimum allowed target value
allowed values for signleturn variants:
-223…223
allowed values for multiturn variants:
(upper mapping end - 800…26400 *
denominator / numerator)
31 bit
yes
223
(singleturn)
26400
(multiturn)
R/W
lower limit
2017
31 bit
yes
-223
(singleturn)
800
(multiturn)
R/W
maximum
start-up
torque
2018
value in cNm
see table
16 bit
yes
see
table
R/W