halstrup-walcher PSW 31 14 Series User guide

Dokument 7100.006684
Original Instruction Manual
PSx3xxPN-STO
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-STO
2
Type overview of the PSx3xxPN-STO to which this instruction
manual apply
PSE/PSS/PSW30x-x-PN-x-x-S/T/Y/Z-x
PSE/PSS/PSW31x-x-PN-x-x-S/T/Y/Z-x
PSE/PSS/PSW32x-x-PN-x-x-S/T/Y/Z-x
PSE/PSS/PSW33x-x-PN-x-x-S/T/Y/Z-x
This operating manual apply to all options that can be ordered at the points marked with 'x'.
A
Design
B
Type
C
Bus communication
D
Connections
E
Brake
F
Certification
G
Protection
class
Positioning
System
Efficient
PSE
30x-8 / -14
31x-8 / -14
32x-14
33x-14
EC: EtherCAT
PN: PROFINET
EI: EtherNet/IP
PL: POWERLINK
0: standard
T: standard with
jog keys3)
Y: 1 connector,
Y-encoded
Z: 1 connector,
Y-encoded,
with jog
keys3)
0: without
M: with
S: STO+CE
without Test
pulse
T: STO+CE with
Test pulses
Y: STO+NRTL
without Test
pulse
Z: STO+NRTL
with Test pulses
54: IP 54
65: IP 65
68: IP 68
Positioning
System
Stainless
PSS
Positioning
System
Washable
PSW
Remarks
Other shaft
diameters
possible as
special design
Labelling
3xx-XX /So
3) always via an
extra connector
Example for a device variant: PSE335-14-PN-Z-0-Z-65
PSE 335-14 - PN - Z - 0 - Z - 65
A B C D E F G
Revision Overview
Version:
Date:
Author:
Content:
A
01.03.21
La
Initial Revision
B
05.05.21
La/Me
Translation after amendments in German version; Layout changes
C
22.03.22
Me
UKCA; Parameter 91; Pin assignment; Readjustment
Mapping end; manual turning
Accessories PSx3xxPN-STO series
We offer you the corresponding supply and data plugs for all unit types. Please contact our
sales department, stating the complete type designation, at the following e-mail address
[email protected]

Instruction Manual PSx3xx-PN
3
Purpose of instruction manual
This document describes the safety relevant fundamentals and expected key figures
when using the positioning system PSx3xx with STO (Safe Torque Off) sub safety
function.
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 statutory requirements of the EC and UK-directives. This
is documented by the CE and the UKCA mark being affixed.
.
© 2021, 2022
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.
Reproduction and making available to third party is prohibited without permission of
the manufacturer.

Instruction Manual PSx3xxPN-STO
4
Table of Contents
Revision Overview.....................................................................................................2
Accessories PSx3xxPN-STO series.........................................................................2
Purpose of instruction manual.................................................................................3
Conformity .................................................................................................................3
Table of Contents ......................................................................................................4
1. Safety precautions...............................................................................................6
1.1 Appropriate use....................................................................................................6
1.2 Shipping, assembly, electrical connections and start-up.......................................6
1.3 Troubleshooting, maintenance, repairs, disposal..................................................6
1.4 Symbols...............................................................................................................7
2. Device description...............................................................................................7
2.1 Features...............................................................................................................7
2.2 Installation............................................................................................................8
2.3 Disassembly.........................................................................................................9
2.4 Powering the device...........................................................................................10
2.5 Pin assignment...................................................................................................10
2.5.1 Supply voltage and STO connector (24VDC/STO).............................................10
2.5.2 Round socket for bus (Port 1 or Port 2)..............................................................10
2.5.3 One Hybrid bushing for supply, bus and STO (Hybr)..........................................11
2.5.4 Connector for jog keys (Jog) ..............................................................................11
2.5.5 Electrical grounding (Chassis)............................................................................11
2.6 Setting of the device name.................................................................................11
2.7 LEDs..................................................................................................................12
2.8 Start-up..............................................................................................................13
2.8.1 Positioning run ...................................................................................................13
2.8.2 Manual run.........................................................................................................13
2.8.3 Restoring the factory settings (without controller)...............................................14
2.9 PROFINET interface ..........................................................................................14
2.9.1 Table of implemented parameter entries............................................................15
2.9.2 Table of rated speed and torque values for various models of gears..................23
2.9.3 Structure of process data ...................................................................................26
2.9.4 Detailed description of the status bits.................................................................26
2.9.5 Detailed description of control bits......................................................................29
2.9.6 PKW parameter interface...................................................................................31
3. Sequence of positioning...................................................................................34
3.1 Positioning run (with loop)..................................................................................34
3.2 Sequence of a positioning process without a loop..............................................35
4. Specials..............................................................................................................36
4.1 Speed, acceleration and deceleration ................................................................36
4.2 Maximum starting torque and maximum torque..................................................36
4.3 Response of drive in case of block.....................................................................36
4.4 Readjustment in case of manual displacement externally ..................................37
4.5 Calculating the absolute physical position..........................................................37
4.6 Use of the “Upper mapping-end” parameter.......................................................40
4.6.1 Delivery state .....................................................................................................40
4.6.2 Shifting the positioning range upwards starting from the delivery state...............40
4.6.3 Shifting the positioning range downwards starting from the delivery state..........41
4.6.4 Shifting the positioning range depending on the actual position .........................42
4.6.5 Step-by-step instructions for determining the positioning range..........................43
4.7 Using position scaling factors to set the spindle pitch.........................................44
4.8 Drag error monitoring.........................................................................................44

Instruction Manual PSx3xx-PN
5
4.9 Drag error correction..........................................................................................45
4.10 Response at power up, at “IOPS = BAD” and at connection timeout ..................45
4.11 Devices with "Jog keys" option...........................................................................47
4.12 Manual turning with the adjustment facility.........................................................48
4.13 Devices with optional snap brake.......................................................................48
4.14 Reference runs...................................................................................................49
4.15 Reverse drive.....................................................................................................49
4.16 Safe Torque Off..................................................................................................50
5. Technical Data ...................................................................................................51
5.1 Ambient conditions.............................................................................................51
5.2 Electrical data ....................................................................................................51
5.3 STO Data...........................................................................................................52
5.4 Physical data......................................................................................................52
6. Certificate of Conformity...................................................................................53

Instruction Manual PSx3xxPN-STO
6
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.
PSx3xx 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
device 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.
During and after commissioning it must be certain that a rotating output shaft cannot
case any danger.
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.

Instruction Manual PSx3xx-PN
7
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.
CAUTION!
This indicates possible hot surface
2. Device description
2.1 Features
The PSx3xx 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.
PSx3xx 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.
Safe Torque Off
This device variant (STO) contains functions of the functional safety “Safe Torque Off”
The specific information about the safety function can be found in the
safety manual (Document No. 7100.006654).
When using the STO function, the conditions and instructions given in
the safety manual must be observed in order to achieve the required
level of safety.
This operation manual contains only basic information about the STO
functionality.

Instruction Manual PSx3xxPN-STO
8
2.2 Installation
Hollow shaft:
The PSx3xx is mounted on the machine by sliding it with the hollow shaft onto the
spindle to be driven and fixing it with the clamping ring (recommended shaft diameter
8 h9 or 14 h9; tightening torque of the clamping ring screw with 3 mm hexagon
socket: 1.5 Nm).
The depth of the hollow bore is 20 mm. For optimum operation, the pin
of the shaft to be driven should correspond to this depth. Depending
on the operating situation, significantly shorter pins (< 16 mm) may
cause damage to the PSx3xx. When mounting the PSx3xx, it should
only be pushed on until the foam rubber plate lies evenly on the
bottom of the machine or is compressed to approx. half its thickness.
Under no circumstances may the PSx3xx "hard" be screwed to the
machine without an air gap.
The rotation lock is made via the pin (in the picture below the hollow shaft) into a
suitable bore as rotary torque support. This hole must be slightly larger than the
diameter 6 h9 of the pin. An oblong hole or slot with a slightly larger width
(recommended: 6.05...6.10 mm) than the dimension of the pin diameter is optimal.
The backlash when changing the direction of rotation has a direct influence on the
positioning accuracy and can lead to damage to the PSx3xx with very large backlash
(a few mm) due to the impact load
The PSx3xx must have a little gap on all sides when mounted, as it
can move axially and/or radially during positioning if the hollow shaft
and solid shaft are not 100% aligned. This "staggering" is not a defect
of the PSx3xx and also has no influence on the function, as long as it
can move freely.

Instruction Manual PSx3xx-PN
9
Versions with higher torques (from 10 Nm):
Here the force connection is made via a feather key DIN 6885-A5x5x12.
The clamping ring is not freely rotatable but consists of two halves, the fixed part of
the hollow shaft and the loose clamping clamp. The keyway is located in the half that
is fixed to the output shaft. When sliding onto the shaft to be driven with the key
inserted, its angular position must be aligned with the keyway in the PSx3xx. After
pushing on, the PSx3xx is fixed with the 2 screws in the flexible clamping ring half.
Make sure that both screws are tightened as equally as possible (tightening torque of
the screws with 3 mm hexagon socket: 1.5 Nm).
The information on torque support applies in the same way as described above.
For PSE30x-14, PSE32x-14, PSS30x-14 and PSS32x-14, the position of the ant
rotation lock can be set at greater distances by unscrewing the base cover, turning it
180° and then screwing it back on. When screwing on, make sure that the seal is
correctly inserted in the floor.
For torques > 5 Nm we recommend to choose the greater distance.
Solid shaft:
The PSx3xx is installed on the machine by mounting the drive to the axis to be driven
using a coupling and an intermediate flange.
Under no circumstances may the housing cover be used for the
purpose of the transmission of force.
2.3 Disassembly
To remove the PSx3xx from the shaft, release the clamp (for versions with hollow
shaft the clamping ring) and pull the PSx3xx off the shaft. If possible, the PSx3xx
should only be pulled axially. Excessive bending back and forth can damage the
output shaft!
For versions with brake, it is essential to observe the instructions in sections 4.13

Instruction Manual PSx3xxPN-STO
10
2.4 Powering the device
There is one common power supply for the motor and control unit of
the positioning system.
It is recommended, to use SELV or PELV power supplies.
For the combined motor and control power, use a single fuse with
max. 3.5 A for each PSx3xx
It is strongly recommended to separate power cables to the
PSx3xxPN from other power cables that might have dangerous
voltage.
Underwater usage of the PSW is not allowed
Please consider that the device might have a hot surface during
operation!
2.5 Pin assignment
Please take care that the mating connectors and the used cables
match the connectors in the PSx3xx and are mounted correctly, in
order to achieve the protection class.
2.5.1 Supply voltage and STO connector (24VDC/STO)
connector pattern
(external top view)
assignment
type
1. +24V motor / control
2. GND motor / control
3. STO input
4. N.C.
5. housing/pressure balance
PSE/PSS:
M12 (A-cod.); 5-pol.
PSW:M12 (A-cod.);
4-pol. with airtube
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.
2.5.2 Round socket for bus (Port 1 or Port 2)
connector pattern
(external top view)
assignment
type
1. TD+(WH/GN, white/green)
2. RD+ (WH/OG, white/orange)
3. TD-(GN, green)
4. RD-(OG, orange)
M12 (D-cod.);
4-pol.
Due to the use of 4-pin sockets, only four-wire cables should be used.

Instruction Manual PSx3xx-PN
11
2.5.3 One Hybrid bushing for supply, bus and STO (Hybr)
connector pattern
(external top view)
assignment
type
1. TD+
2. TD-
3. RD+
4. RD-
5. GND motor / control
6. N.C.
7. +24V motor / control
8. STO input
M12 (Y-cod.);
8-pol.
2.5.4 Connector for jog keys (Jog)
connector pattern
(external top view)
assignment
type
1. +24V (output)
2. forward key
3. reverse key
4. GND
M8; 4-pol.
2.5.5 Electrical grounding (Chassis)
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 conductor cross-section for this is 1.5 mm².
2.6 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.

Instruction Manual PSx3xxPN-STO
12
2.7 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 and LED configurations:
PSx30xPNET-STO, PSx31xPNET-STO,
PSx32xPNET-STO, PSE31xxPNET-STO
PSx31xPNET-14-STO
PSx33xPNET-STO
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
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

Instruction Manual PSx3xx-PN
13
2.8 Start-up
After the supply voltage has been hooked up, a positioning or manual run can begin
immediately:
For the start-up of the STO safety function see separate safety manual
(Document No. 7100.006654).
2.8.1 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 to 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
The transmission of control word and target value with the help of
explicit requests is only possible if NO cyclic process data connection
is active.
2.8.2 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).

Instruction Manual PSx3xxPN-STO
14
2.8.3 Restoring the factory settings (without controller)
It is also possible to set the drive to the delivery state without the presence of a
controller. Carry out the following steps to do this:
1) Switch off the device.
2) Set the address switch to 98.
3) Switch on the device (control and motor voltage).
4) The yellow LED now flashes for 10s at 10Hz. If the address is set to 99 during this
time, the drive sets all parameters to the delivery status, saves them and moves the
axis to the middle position.
5) Set the address switch to 00 to complete the delivery status.
6) Switch off the device.
The 10-second period is terminated before it is complete when communication is
established.
2.9 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 specifies 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.

Instruction Manual PSx3xx-PN
15
2.9.1 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: reverse jog key active
Bit 3: forward jog key active
Bit 4: STO-enabling active
Bit 5: positioning run aborted
Bit 6: drive is running
Bit 7: temperature exceeded
Bit 8: movement opposite loop direction
Bit 9: measuring system
or STO hardware error
Bit 10: positioning error (block)
Bit 11: manual displacement
Bit 12: Incorrect target value
Bit 13: failure voltage control
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 breaking 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

Instruction Manual PSx3xxPN-STO
16
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 3: Enable manual operation in jog
mode
Bit 4: release: The axle will only run if this
bit is set
Bit 5: Enable jog mode with keys: When
the bus connection is active, the external
keys are only active when the bit is set.
Bit 6: Run without loop
Bit 7: Execute switch-on loop movement
Bit 8: Jog to larger values
Bit 9: Jog to smaller values
Bit 14: acknowledgment
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

Instruction Manual PSx3xx-PN
17
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
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
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

Instruction Manual PSx3xxPN-STO
18
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “position settings” (continued)
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
size of
individual
increment
49
number of increments when external keys
pressed (or when activating a jog run bit)
for a short-time
The maximum value that can be set
changes according to the same factor as
the resolution.
Writing is only possible at standstill.
1…100
16 bit
yes
1
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
*) Values depend on device type (see following table)
**) The current is controlled so that the resulting torque never exceeds the value specified
with par. 63 or par. 64, even if the drive cannot reach the target speed (e.g. due to
sluggishness).

Instruction Manual PSx3xx-PN
19
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
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
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
idle period for
manual run
74
Span of time a manual run key must be
pressed (or a jog run bit must be
activated) in order to begin a manual run
Changes only possible when at standstill.
(value in steps of 5 msec)
100…
10000
16 bit
yes
1000
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
Lower voltage limit for bit 13 in the status
word (failure voltage control); given in
0.1 V increments.
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 Par.
(When the voltage falls below 19.2 V, a
power good failure from the hardware will
be detected. No positioning is possible,
even when the communication may work)
180 ...
240
16 bit
yes
185
R/W
temperature
limit
91
upper temperature limit in °C
10...80
16 bit
yes
70
R/W

Instruction Manual PSx3xxPN-STO
20
Name
Par.
Number
Function
Type/
Range
Back
up
Delivery
State
R/W
Parameter group “others” (continued)
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
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 the safe position
which is defined by Par. 94
0x03: reserved
Bits 3-2: configuration of safe position run
when no connection is being established
after a certain time at power-up
0x00: no safe position run at power-up
0x01: safe position run after 15 sec
0x02: safe position run after 30 sec
0x03: safe position run after 60 sec
Bits 5-4: response of the drive if “IOPS =
BAD” (e.g. by CPU Stop)
0x00: continue moving (drive will continue
moving to the actual target position)
0x01: drive will abort any positioning
0x02: drive will move to a safe position
which is defined by Par. 94
0x03: reserved
16 bit
yes
1
R/W
safe 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
- the state „IOPS = BAD“ has been
detected (e.g. by a CPU stop) and bits
5-4 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