halstrup-walcher PSD4 Series Manual de usuario
Bus description
PSD4xx positioning system –CANopen
General
7100.006424_Bus description_PSD4xx_CA_H_ENG 208.04.2020
halstrup-walcher GmbH
Stegener Straße 10
79199 Kirchzarten
Tel. +49 7661 39 63-0
www.halstrup-walcher.com
©2020, Kl
The manufacturer owns the copyright to this instruction manual. It contains technical data,
instructions and drawings detailing the device’s features and how to use them. It must not
be copied either wholly or in part or made available to third parties.
The instruction manual is part of the product. Please read this manual carefully, follow our
instructions, and pay special attention to the safety information provided. This instruction
manual should be available at all times. Please contact the manufacturer if you do not
understand any part of the instructions.
The manufacturer reserves the right to continue developing this 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
7100.006424_Bus description_PSD4xx_CA_H_ENG 3 08.04.2020
Table of contents
1General..............................................................................................................4
2Start-up .............................................................................................................5
2.1 Set the device address...............................................................................6
2.2 Set the baud rate........................................................................................7
2.3 CAN terminating resistor...........................................................................8
2.4 Switch the device on..................................................................................9
3Description of CANopen..................................................................................10
3.1 Status LEDs...............................................................................................10
3.2 Table of entries implemented from object dictionary............................11
3.3 Table of device-dependent Min., Max. and Default values ...................21
3.4 Define PDOs..............................................................................................23
3.5 Detailed description of status bits...........................................................23
3.6 Detailed description of control bits.........................................................27
4Functions.........................................................................................................28
4.1 Types of positioning ................................................................................28
4.1.1 Positioning run
with
loop...................................................................28
4.1.2 Positioning run
without
loop.............................................................28
4.1.3 Manual run..........................................................................................29
4.2 Start Positioning run................................................................................29
4.3 Velocity, acceleration and deceleration..................................................30
4.4 Maximum start-up and operating current..............................................30
4.5 Response of the drive if it encounters an obstacle ................................30
4.6 Response of the drive if it is turned manually (adjustment function)...31
4.7 Calculate the absolute physical position ................................................32
4.8 Set the spindle pitch ................................................................................35
4.9 Abort the run when the master fails.......................................................35
4.10 Reference runs......................................................................................36
4.11 Run drive in reverse..............................................................................37
5Technical data .................................................................................................37
6Notes ...............................................................................................................38
General
7100.006424_Bus description_PSD4xx_CA_H_ENG 408.04.2020
1 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
Start-up
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2 Start-up
WARNING Risk of injury if used inappropriately.
The device must be installed by trained technical
personnel.
WARNING Risk of burns due to hot drive.
The drive can become very hot during operation.
Allow the drive to cool before touching it.
WARNING Risk of crushing due to rotary movement.
Do not reach into the working area of the drive when it is
still turning.
The user/operator must ensure appropriate protective
measures are taken.
WARNING Incorrect assembly can lead to the destruction of the drive.
WARNING Check that the supply lines are not pinched or crushed.
Lay the supply lines according to the general and specific
local assembly regulations.
If the supply lines have not been delivered together with
the device, please select suitable cables for the application.
Do not operate the positioning unit if the supply lines are
noticeably damaged.
WARNING Risk of injury. High contact voltages can occur in the case
of malfunctions.
This can be prevented by grounding.
ATTENTION The drive must be protected against excessive heating.
The user/operator must ensure appropriate protective measures
are taken.
ATTENTION Never apply force to the housing of the drive, e.g. for supporting
weight.
Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 608.04.2020
2.1 Set the device address
You can assign a unique device address using the address switch.
Note: If these address switches are set to 00, the address can be set via the CAN
bus with SDO #2026.
The device controls and status elements are located under the sealing plug. You will need a
non-conducting pointed object to adjust the switches (e.g. a screwdriver).
Set the tens and units on the respective address switches.
Turn the device off and on again or use the reset command via the control unit to accept the
new setting. The device address is now set and the setting is active.
Note: The delivery state is 00; the PSD4xx identifies itself using address 1 at the
bus.
Note: If you set the address using the switches (i.e. switches set to > 0) you
cannot change this value using the CAN bus.
Note: The yellow LED shows the motor voltage status, the red and green LEDs
show the CANopen status.
Note: Always re-attache the protective cap after setting the address. This will
prevent dust and contaminants from entering the device.
Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 7 08.04.2020
2.2 Set the baud rate
You can set the baud rate using the sliding switches S2-S4 (DIP switch 2-4).
The device controls and status elements are located under the sealing plug. You will need a
non-conducting pointed object to adjust the switches.
Please refer to the following table to find the correct baud rate settings and adjust the sliding
switches S2-S4 (DIP switch 2-4) accordingly:
Table: Baud rate:
S2
S3
S4
Description
OFF
OFF
OFF
Set baud rate via bus (default = 500 kBaud)
ON
OFF
OFF
20 kBaud
OFF
ON
OFF
50 kBaud
ON
ON
OFF
125 kBaud
OFF
OFF
ON
250 kBaud
ON
OFF
ON
500 kBaud
OFF
ON
ON
800 kBaud
ON
ON
ON
1000 kBaud
Turn the device off and on again or use the reset command via the control unit to accept the
new setting.
Note:
Maximum
bus length
Baud rate
250 m
250 kBaud
100 m
500 kBaud
Note: If the sliding switches S2-S4 are set to OFF, the baud rate is set via the
CAN bus with SDO #2027.
Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 808.04.2020
Note: If at least one sliding switch S2-S4 is ON, the baud rate cannot be changed
via the CAN bus.
2.3 CAN terminating resistor
You can use the sliding switch S1 (DIP switch 1) to set the CAN terminating resistor (120 Ω).
Note: For a line topology, the bus termination is at both ends of the network.
The device controls and status elements are located under the sealing plug. You will need a
non-conducting pointed object to adjust the switches (e.g. a screwdriver).
Please refer to the following table for the terminating resistor settings and adjust the sliding
switch S1 (DIP switch 1) accordingly:
S1
Description
OFF
Deactivate the terminating resistor
ON
Activate the terminating resistor
Start-up
7100.006424_Bus description_PSD4xx_CA_H_ENG 9 08.04.2020
2.4 Switch the device on
To turn on the PSD4xx, install the PSD in the correct position according to the assembly
instructions. 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
The PSD4xx must be grounded before the power supply cable is connected. The grounding
cable must be connected to the correct position on the PSD4xx and to the ground potential
(e.g. machine base).
Note: The positioning system should be connected to the machine base using the
shortest possible cable. The minimum wire cross-section of the grounding cable is
1.5 mm².
Once the PSD has been grounded, it can be connected to the power supply and the
communication interface. The drive is now ready for operation.
Grounding screw
Description of CANopen
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3 Description of CANopen
The CAN bus interface uses the CANopen protocol in accordance with CiA DS 301 Version
4.02:
One transmit and one receive SDO per device
One asynchronous transmit and receive PDO, active by default
One heartbeat object every 500 ms
3.1 Status LEDs
The following LEDs are located under the sealing plug:
Green LED (gn) = RUN LED in accordance with CANopen:
Single flashes:
CAN stop
Continuous flashing:
CAN preoperational
Continuously illuminated:
CAN operational
Red LED (rd) = ERROR LED in accordance with CANopen:
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 (ye) = Display actuator voltage:
Off:
Motor voltage too low or too high
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