halstrup-walcher PSE3**PN series User manual

Document 7100.005114 03/2017
Instruction Manual
PSx3xxPN
halstrup-walcher GmbH
Stegener Straße 10
D-79199 Kirchzarten
Tel.: [phone]
Fax: [phone]
E-Mail: [e-mail]
Internet: www.halstrup-walcher.de

Instruction Manual PSx3xxPN
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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.............................................................................................................................5
2Device description......................................................................................5
2.1 Features............................................................................................................................5
2.2 Installation.........................................................................................................................5
2.3 Pin assignment..................................................................................................................6
2.4 Setting of the device name ................................................................................................7
2.5 LEDs..................................................................................................................................8
2.6 Start-up..............................................................................................................................9
a) Positioning run ..............................................................................................................9
b) Manual run....................................................................................................................9
2.7 PROFINET interface........................................................................................................10
a) Table of implemented parameter entries.....................................................................11
b) Structure of process data ............................................................................................19
c) Detailed description of the status bits..........................................................................20
d) Detailed description of control bits...............................................................................22
e) PKW parameter interface............................................................................................23
3Specials....................................................................................................26
3.1 Speed, acceleration and deceleration..............................................................................26
3.2 Response of drive in case of block ..................................................................................26
3.3 Response of drive in case of manual displacement (readjustment)..................................26
3.4 Positioning sequence with loop........................................................................................27
3.5 Positioning sequence without loop...................................................................................28
3.6 Calculating the absolute physical position........................................................................28
3.7 Using position scaling factors to set the spindle pitch ......................................................30
3.8 Drag error monitoring.......................................................................................................31
3.9 Drag error correction........................................................................................................31
3.10 Abort run when the master fails .......................................................................................31
3.11 Devices with optional holding brake.................................................................................31
3.12 Devices with optional friction brake..................................................................................32
3.13 Reference runs................................................................................................................32
4Technical Data .........................................................................................33

Instruction Manual PSx3xxPN
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Purpose of instruction manual
This instruction manual describes the features of the PSx3xxPN 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.
© 2017
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 PSx3xxPN
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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.
PSx3xxPN 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 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 authorised 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 materi-
als and materials that can be reused. The device must therefore be sent to a recy-
cling plant when you no longer wish to use it. The environment codes of your particu-
lar country must be complied with.

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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.
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 PSx3xxPN 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 PROFINET 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.
PSx3xxPN positioning systems convert a digital positioning signal into an angle of
rotation.
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.
2.2 Installation
Hollow shaft:
The PSx3xxPN 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.

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Solid shaft:
The PSx3xxPN 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 PSx3xxPN 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 713/763 (A-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 PSx3xxPN.
Two round 4-pin sockets, Binder series 825 (D-coded) are provided for connection to
the bus.
Supply voltage connector:
round plug
Harting plug
1. +24V motor
2. ground (motor)
3. +24V control unit
4. ground (control unit)
5. housing/pressure balance
(external top view)
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
Round socket for bus:
1. TD+ (WH/GN, white/green)
2. RD+ (WH/OG, white/orange)
3. TD-(GN, green)
4. RD-(OG, orange)
(external top view)
Due to the use of 4-pin sockets, only four-wire cables should be used.
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.

Instruction Manual PSx3xxPN
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2.4 Setting of the device name
It’s possible to set the device name by 3 different ways:
1) For variants with address switches the device name is built up of a basic part and
the address in the following way:
pse-xx
(xx is the setting of the address switches when powering on the drive, provided
that the address is > 0)
2) If no address switches are included in the device or the setting of the address
switches is “00”, the address which is stored in the internal EEPROM is effective,
in case it is > 0 (parameter 92). The device name then is built up in the following
way:
pse-xxxxx
3) If no address switches are included in the device or the setting of the address
switches is “00” AND the address which is stored in the internal EEPROM is equal
0, the device name which was assigned at last by the IO controller is valid.
In delivery state address switches are at setting 0 (if present), the address which is
stored in the internal EEPROM is 0 and the device name is empty (PROFINET
compliant behaviour).
In order to identify the drive during start-up, the “blinking service” is supported, i.e. the
drive can be accessed via the MAC address and a device naming can be executed.

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2.5 LEDs
The following LEDs are located under the transparent sealing plug:
P1/P2: green LINK LEDs and yellow ACT LEDs for ports 1 and 2
BF: Profinet bus fault LED
SF: Profinet status fault LED
V_Motor: The LED is illuminated yellow when power is available to the motor.
Switch configurations:
PSx30xPN, PSx31xPN-8, PSx31xPN-14, PSx33xPN,
PSx32xPN, PSE31xxPN,
PSE34xxPN
Meaning of the LEDs:
1) Each of the ports (P1/P2) has two associated LEDs (one green for the “Link” state
and one yellow for the “Activity” state).
For each port the following states are possible:
- green off, yellow off no line connection
- green on, yellow off line connection is active, no data activity
- green on, yellow is flickering with 10 Hz line connection is active, data activity
2) red Profinet LED “bus fault” (BF)
- Off The drive is in the process of exchanging data.
- Flashing with 2Hz The drive is connected to the Ethernet network and is not in
the process of exchanging data.
- On The drive is not connected to the Ethernet network.
3) red Profinet LED “status fault” (SF)
- Off No fault, no diagnostic message is present.
- Flashing with 2Hz, duration 3 sec. DCP signal service is initiated via the bus
- On Watchdog Time-out; system fault or diagnostic message is present

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4) The yellow “motor” LED indicates the motor power supply:
- off Motor power supply too low or too high
- on Motor power supply well
flashing Motor power supply well, PSx in delivery state
2.6 Start-up
After the supply voltage has been hooked up, a positioning or manual run can begin
immediately:
a) Positioning run
- To be able to control the drive, first a cyclic process data connection has to be
established.
- Transfer target value:
control word = 0x14 and desired target value
Drive begins run
- Abort run by resetting the release bit:
control word = 0x00
- If a new target value is transferred during a positioning run, the device will
immediately proceed to the new target. There will be no interruption if the direction
of rotation does not need to be altered.
- If a manual run is transmitted during a positioning run, the positioning run will be
aborted (speed will be reduced to that of a manual run) and the device proceeds
with the manual run.
The following sequence of steps is also possible:
Starting situation: release has not been set
- Transfer target value:
control word = 0x04 and desired target value
- Set release:
control word = 0x10
Drive begins run
Where applicable, positioning runs involve a “loop run” which causes the
target position to be reached from a predefined direction. The direction and
the length of the loop run can be set to the desired value with Par. 45
(“length of loop”) before the run. With Par. 45 the loop run might also be
disabled.
b) Manual run
- Start manual run (control word = 0x11 resp. 0x12): Drive begins run
- End manual run by clearing the manual run command (transmit control word = 0x10)
or by deasserting release (transmit control word = 0x00).
- Transferring a target value during a manual run will end the manual run and the
device will immediately move on to the transmitted position (control word = 0x14 and
desired target value).
Underwater usage of the PSW is not allowed.

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2.7 PROFINET interface
When setting up the project, care should be taken to use the appropriate DAP (either
“PSx with 1 connector” or “PSx with 2 connectors”). When choosing the wrong DAP,
no communication will establish.
Although the mode “IRT”is mentioned in the GSD file associated to the
device, currently only the mode “RT”is supported.
Process data:
As process data for the IO controller a 14-byte output module and a 16-byte input
module exist. With the help of the process data, the positioning commands are
initiated and monitored, besides parameters might be written and read. For that
purpose, the “PKW parameter interface” is being used, which is described in the drive
profile “Profidrive”.
Acyclic read and write requests:
Access on all parameters is also possible with acyclic read and write requests instead
via the PKW parameter interface. The parameter number is in both cases the same.
When using acyclic write requests, it has to be considered that just before the
effective value which a parameter shall receive, a control byte has to be transmitted,
which specifys if the drive shall execute or ignore the write request. If the write
request shall be ignored, this control byte has to be set to 0, otherwise the write
request will be executed.
Thus, the data length of the write requests result to 3 byte for 16-bit values
and 5 byte for 32-bit values.
For acyclic reading, the data length of the returned value is 2 byte for 16-bit
values and 4 byte for 32-bit values.
The advantage of this method is when doing a parametrization in the context of
running up a device, a parameter might be taken over out of the project design or
alternatively the values which are stored in the EEPROM of the drive keep their
validity. This is being controlled by the control byte which was described before and
which is present for each parameter in the GSD file and which is being displayed in
the project design.

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a) Table of implemented parameter entries
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Status requests
status word
1
Bit 0: target position reached
Bit 1: drag error
Bit 2: reserved
Bit 3: reserved
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 ...
0xFFFF
16 bit
R
actual speed
2
value in rpm
15 bit
R
actual value
3
current actual position
value in 1/100 mm (for a 4mm spindle and
default settings of numerator, Par. 38 and
denominator, Par. 39)
Writing onto this parameter causes the
current position to be “referenced” onto
the transferred value.
Changes only possible when at standstill
31 bit
no
R/W
actual torque
4
value in cNm
16 bit
R
maximum
torque
5
maximum torque occurring during the
most recent run (start phase, during which
the maximum start-up torque applies, see
Par. 63/71, and the phase when the drive
is braking down, are not considered)
value in cNm
16 bit
R
U control
6
current supply voltage for control unit
given in increments of 0.1 V
16 bit
R
U motor
7
current supply voltage for motor given in
increments of 0.1 V
16 bit
R
device
temperature
8
internal device temperature in °C
16 bit
R
address
switch
9
current setting of the (optionally present)
address switch
16 bit
R
production
date
10
year and week of manufacturing
(given as an integer)
YYWW
16 bit
R
serial number
11
serial device number
0 ...
65535
16 bit
R

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Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Status requests (continued)
device model
(as number)
12
device model within the PSE series as
number (e.g. 31208)
16 bit
R
device model
(as string)
13
device model within the PSE series as
string (e.g. “PSE312-8-B”)
When requesting with “Read Record”, the
drive is sending the string as one piece,
when requesting via the PKW parameter
interface, consecutively 5 segments have
to be requested (IND = 0...4), with each of
them containing 4 byte (example for the
first read double word: 0x50534533). The
string is zero-terminated.
R
version
14
software version number
16 bit
R
Run commands
control word
(only writable in
process data)
32
Bit 0: manual run to larger values
Bit 1: manual run to smaller values
Bit 2: transfer target value
Bit 4: release: The axle will only run if this
bit is set.
All other bits must be set to 0!
16 bit
no
0
R
target value
(only writable in
process data)
33
target position to be achieved
value in 1/100 mm (for a 4mm spindle and
default settings of numerator, Par. 38 and
denominator, Par. 39)
31 bit
no
0
R
Parameter group “position settings”
direction of
rotation
37
0: clockwise with larger values
(if looking at the output shaft)
1: counter clockwise with larger values
Changes only possible when at standstill
0 or 1
16 bit
yes
0
R/W
position
scaling,
numerator
38
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
Changes only possible when at standstill
1...10000
16 bit
yes
400
R/W
position
scaling,
denominator
39
1...10000
16 bit
yes
400
R/W

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Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “position settings” (continued)
referencing
value
40
correction factor for the target, actual and
limit switch values
Changes only possible when at standstill
31 bit
yes
0
R/W
upper
mapping end
41
definition of the positioning range relative
to the absolute measuring system
permissible values:
(actual position value + 3 revolutions) …
(actual position value + 253 revolutions)
Changes only possible when at standstill
31 bit
yes
102400
R/W
upper limit
42
maximum permitted target position
minimum value:
upper mapping end - 253 revolutions
maximum value:
upper mapping end - 3 revolutions
Changes only possible when at standstill
31 bit
yes
101200
R/W
lower limit
43
minimum permitted target position
minimum value:
upper mapping end - 253 revolutions
maximum value:
upper mapping end - 3 revolutions
Changes only possible when at standstill
31 bit
yes
1200
R/W
positioning
window
44
permissible difference between target and
actual values for “position reached” bit
value in 1/100 mm (for a 4mm spindle and
default settings of numerator and
denominator)
The maximum value that can be set
changes according to the same factor as
the resolution.
Changes only possible when at standstill
1...100
16 bit
yes
2
R/W
length of loop
45
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)
Changes only possible when at standstill
-1...1
rotation
31 bit
yes
-250
R/W
drag error
46
maximum drag error before the “drag
error” bit is set.
value in 1/100 mm (for a 4mm spindle and
default settings of numerator and
denominator)
0...1000
16 bit
yes
0
R/W
readjustment
47
readjustment at standstill
0 off; 1 on
0 or 1
16 bit
yes
0
R/W
drag error
correction
48
maximum modification of the target speed
for drag error correction
Changes only possible when at standstill
0...10
16 bit
yes
4
R/W

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Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “velocity”
target speed
53
maximum rpm to be used for positioning
runs
value in rpm
*)
16 bit
yes
*)
R/W
target speed
for manual
run
56
maximum rpm to be used for manual runs
value in rpm
*)
16 bit
yes
*)
R/W
speed limit
for aborting
run
57
value in % of the target speed
30...90
16 bit
yes
30
R/W
acceleration
58
value in rpm per sec.
*)
16 bit
yes
*)
R/W
deceleration
59
value in rpm per sec.
*)
16 bit
yes
*)
R/W
Parameter group “torque”
maximum
start-up
torque
63
value in cNm
*)
16 bit
yes
*)
R/W
maximum
torque
64
Applies after completion of start phase
(during start phase the value Par. 63
applies); value in cNm
*)
16 bit
yes
*)
R/W
maximum
holding
torque at end
of run
65
value in cNm
*)
16 bit
yes
*)
R/W
maximum
holding
torque
66
maximum holding torque at standstill in
cNm (after completion of the phase “max.
holding torque at end of run”)
*)
16 bit
yes
*)
R/W
Parameter group “time”
time elapsed
until speed
falls below
speed limit
for aborting
run
70
value in msec
(see also Par. 57)
50...500
16 bit
yes
200
R/W
time period
for start-up
torque
71
time period at begin of run, in which the
“maximum start-up torque” applies (value
in msec, see also Par. 63)
10...1000
16 bit
yes
200
R/W
*) Values depend on device type (see following table).

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Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “time” (continued)
duration of
maximum
holding
torque at end
of run
72
time period at end of run, in which the
“maximum holding torque at end of run”
applies (value in msec, see also Par. 65)
0...1000
16 bit
yes
200
R/W
idle period for
direction
change
73
idle period when reversing the direction of
rotation (value in msec)
10 ...
10000
16 bit
yes
10
R/W
waiting time
for brake at
end of run
75
time period after the end of run, in which
the brake stays released (value in msec)
0...3000
16 bit
yes
1000
R/W
UMot filter
76
average time for measuring current power
to motor (value in msec)
100 ...
1000
16 bit
yes
100
R/W
Parameter group “others”
general
purpose
80-89
10 general purpose registers
32 bit
yes
0
R/W
Umot limit
90
voltage limit for bit 4 (“motor power
present”); given in increments of 0.1 V
Beginning a positioning run or a manual
run is only possible if the supply voltage
for the motor is higher than the value of
this parameter. During the run the voltage
might fall down to 17.5V.
180 ...
240
16 bit
yes
185
R/W
temperature
limit
91
upper temperature limit in °C
10...70
16 bit
yes
70
R/W
address
92
If no address switches are included in the
device or the setting of the address
switches is “00”, this value is effective as
address, in case it is > 0. The device
name then is built up in the following way:
pse-xxxxx
When writing, this value only will be valid
after saving (s. Par. 96) and restart.
If additionally to the address switch
setting “00” parameter 92 is zero, the
name which was assigned by the IO
controller during device naming is valid.
16 bit
yes
0
R/W

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Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “others” (continued)
configuration
for
connection
timeout
93
Bits 1-0: configuration for connection
timeout (if a connection has been
established and lost)
0x00: continue moving (drive will continue
moving to the actual target position)
0x01: drive will abort any positioning
0x02: drive will move to a save position
which is defined by Par. 94
0x03: reserved
Bits 3-2: configuration of save position run
when no connection is being established
after a certain time at power-up
0x00: no save position run at power-up
0x01: save position run after 15 sec
0x02: save position run after 30 sec
0x03: save position run after 60 sec
16 bit
yes
1
R/W
save position
for
connection
timeout
94
drive will move to this position if
- a connection loss has been
detected and bits 1-0 of Par. 93
are set to 0x02
- no connection is being established
after a certain time at power-up
and bits 3-2 are being set
appropriate
31 bit
yes
0
R/W
repetition
time for save
position run
95
drive will start another save position run if
the last save position run was not
successful (e.g. because of undervoltage,
positioning error (block) or
overtemperature)
value in sec; 0no repetition
16 bit
yes
0
R/W

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Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “others” (continued)
delivery state
96
writing “-6”:
resets the drive (equal to switching off
and on again the control power supply)
writing “-5”:
sets the values of all parameters to the
delivery state, saves all parameters in the
EEPROM, afterwards positioning run to
the middle of the measurement range *)
(device name and IP address stay
unaffected)
writing “-4”:
sets the values of all parameters to the
values which are saved last by the user,
afterwards positioning run to the middle of
the measurement range *)
(device name and IP address stay
unaffected)
writing “-3”:
sets the values of all parameters to the
delivery state, erases the device name
and the IP address and saves all
parameters in the EEPROM
writing “-2”:
sets the values of all parameters to the
values which are saved last by the user,
without saving the parameters in the
EEPROM (device name and IP address
stay unaffected)
writing “-1”:
sets the values of all parameters to the
delivery state, without saving the
parameters in the EEPROM (device name
and IP address stay unaffected)
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 200 msec)
Changes only possible when at standstill
-6…-1
or 1
(writing)
0...2
(reading)
±15 bit
no
R/W
*) In cyclic process data exchange, the control word is ignored during a run to the middle of
the measurement range (unless it changes). Thus a run to the middle of the measurement
range may be interrupted by a change of the control word. Run commands issued before the
run to the middle of the measurement range will not automatically restart after finishing the

Instruction Manual PSx3xxPN
18
the run to the middle of the measurement range. (I. e. control word 0x14 and old target
position will not lead to a run to this position.)
Table of rated speed and torque values for various models of gears
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
Name
Par. No.
value range
delivery state
target speed
53
15...230
230
10...150
150
3...70
70
20...200
170
10...100
85
target speed for
manual run
56
15...230
80
10...150
50
3...70
20
20...200
80
10...100
40
acceleration
58
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
deceleration
59
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
maximum start-
up torque
63
2...125
125
10...250
250
50...600
600
10...250
250
20...500
500
maximum torque
64
2...125
100
10...250
200
50...600
500
10...250
200
20...500
400
maximum
holding torque at
end of run
65
0...180
60
0...300
100
0...600
200
0...200
70
0...400
140
maximum
holding torque
66
0...90
30
0...150
50
0...300
100
0...100
35
0...200
70
device model PSW
301-x
311-x
302-x
312-x
305-x
315-8
322-14
332-14
325-14
335-14
Name
Par. No.
value range
delivery state
target speed
53
15...180
180
10...125
125
3...60
60
20...150
125
10...80
60
target speed for
manual run
56
15...180
80
10...125
50
3...60
20
20...150
80
10...80
40
acceleration
58
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
deceleration
59
97...600
600
50...400
400
23...130
130
97...525
525
50...260
260
maximum start-
up torque
63
2...125
125
10...250
250
50...600
600
10...250
250
20...500
500
maximum torque
64
2...125
100
10...250
200
50...600
500
10...250
200
20...500
400
maximum
holding torque at
end of run
65
0...180
60
0...300
100
0...600
200
0...200
70
0...400
140
maximum
holding torque
66
0...90
30
0...150
50
0...300
100
0...100
35
0...200
70

Instruction Manual PSx3xxPN
19
device model PSE
313-x
3110-x
3125-x
3210-x
3310-x
3218
Name
Par.-Nr.
value range
delivery state
target speed
53
20…120
120
1…30
30
1...12
12
5...45
38
3...30
28
target speed for
manual run
56
20…120
50
1…30
12
1...12
5
5...45
15
3...30
10
acceleration
58
40…600
600
9…50
50
4...20
20
20...117
117
11...70
70
deceleration
59
40…600
600
9…50
50
4...20
20
20...117
117
11...70
70
maximum start-up
torque
63
20...400
375
100...1200
1200
250...3000
3000
100...1200
1200
180...2200
2200
maximum torque
64
20...400
300
100...1200
1000
250...3000
2500
100...1200
1000
180...2200
1800
maximum holding
torque at end of
run
65
0...300
200
0...1200
400
0...2500
900
0...1000
350
0...1800
600
maximum holding
torque
66
0...150
50
0...600
200
0...1250
450
0...500
175
0...900
300
device model PSE
3325
3410
3418
Name
Par.-Nr.
value range
delivery state
target speed
53
2...18
15
10...100
100
10...90
90
target speed for
manual run
56
2...18
6
10...100
40
10...90
30
acceleration
58
8...45
45
20...350
350
10...315
315
deceleration
59
8...45
45
20...350
350
10...315
315
maximum start-up
torque
63
250...3000
3000
100...1200
1200
500...2000
2000
maximum torque
64
250...3000
2500
100...1200
1000
500...2000
1800
maximum holding
torque at end of
run
65
0...2500
900
0...600
400
0...900
600
maximum holding
torque
66
0...1250
450
0...300
200
0...450
300

Instruction Manual PSx3xxPN
20
Structure of process data
1) Output module (from the perspective of the IO controller)
Assignment (cannot be modified):
Byte
Description
corresponding
parameter number
0-1
PKE
2-3
IND
4-7
PWE
8-9
control word
32
10-13
target position
33
2) Input module (from the perspective of the IO controller)
Assignment (cannot be modified):
Byte
Description
corresponding
parameter number
0-1
PKE
2-3
IND
4-7
PWE
8-9
status word
1
10-11
actual speed
2
12-15
actual position
3
b) Detailed description of the status bits
Bit 0: target position reached
This bit is set:
- when a transferred target position has been reached successfully (not at the
end of a manual run, elsewise the target position is the same as the
applicable limit switch)
- after manual displacement while at standstill, when the actual position is
within the positioning window again
This bit is reset:
- after transferring a target position if the difference from the actual value is
larger than the positioning window (Par. 44)
- by a manual run
- if an invalid target value has been transferred
- if rotated manually when on standstill
Bit 1: drag error
This bit is set:
- if during a run (except in the braking phase) the difference between actual
target position and actual position exceeds the value which has been set with
Par. 46
This bit is reset:
- with each new run command
Bit 2: reserved