Positioning Systems Catalogue ENG Web PDF

Positioning systems
Automatic format adjustment in machines –

Professional conversion to various product formats
A family-owned and highly innovative supplier
of customised solutions
We offer both standardised products and customised
solutions and services for mechatronics, electronics
and software. With our own development department
(electronics / construction) and a remarkable depth of
production expertise, we are able to manufacture a wide
range of variants for our customers. A strong quality
assurance programme and lean processes have made us
a highly professional partner with impressive performance
in quality, costs and punctuality. Our quality management
system is certified in accordance with ISO 9001:2015.
We accept our environmental responsibilities in all our
processes and corporate decisions – our environmental
management system is also certified in accordance with
ISO 14001:2015.
Long-standing relationships bind us closely to our
customers, our approx. 150 employees, the location in
Kirchzarten and our suppliers.
halstrup-walcher: Specialists in 4 sectors

measurement Positioning Systems Tailor-Made Services
technology drive Solutions
You need to control the As a manufacturer of ma- You need to make parts You have an application
pressure in your cleanroom chine tools, your customers move, linear or rotary. where you need mea-
to keep contaminated air expect you to supply highly Optimised for the existing surement technology or
from entering. You need a flexible solutions with mini- construction space and mechatronic drives but
display panel that shows mal retooling times. Format with a sharp eye on the you can’t find a suitable
you relevant physical / che- changes should be perfor- costs. With a constantly product.
mical parameters at a glan- med automatically, with high level of precision. halstrup-walcher develops
ce. You need to monitor an highest precision and as With or without housing. and designs the solution
HVAC air filter or fan. quickly as possible. And you As a motor / gearbox you need. Even in small
Or you need to maintain want to be able to offer your combination. Regulated batch numbers.
overpressure or vacuum in customer optimum availabi- or with a control system.
one of your machines. lity of the machine – suppor- With analog or digital You need DAkkS or
ted by condition monitoring communication. ISO calibration for your
halstrup-walcher supplies
for the components. measuring devices so that
instruments for high pre- halstrup-walcher offers
you can be sure they are
cision applications in the Positioning systems from auxiliary and actuator
reliable.
area of pressure measure- halstrup-walcher include drives as mechatronic solu-
ment technology: Pressure motor, gear, absolute tions. We develop mecha- halstrup-walcher runs 2
transmitters, calibration encoder, the motor control nical designs, electronics accredited laboratories for
devices and digital mano- system with a choice of 10 and all the relevant stages DAkkS calibrations from
meters for stationary or different bus communica- of the manufacturing pro- the variables pressure and
mobile use. tions on-board along with a cess in-house. flow rate.
wide variety of designs and
performance characteristics.
Lean management at halstrup-walcher
Focus on the customer and optimised internal processes Shop floor management has also brought previously
unimaginable successes. Employee consultations take
A number of years ago, business theorists spoke of a place in each department every working day. These are
„magic triangle“ of quality, costs and punctuality. These forums for discussion of current issues. Measures for
three factors were considered magical because any eliminating these issues immediately and permanently
measures for improvement could benefit no more than are discussed and agreed at follow-up meetings in the
two of them at any time – and these gains could only be company. These take into account all the relevant infor-
obtained at the expense of the third. With the help of mation. Everyone contributes, no problem is ignored.
lean management, halstrup-walcher has succeeded in Solutions to the problems are implemented without
breaking the spell of this magic triangle. Faults, dis- delay. It is a culture that has won the hearts and minds
ruptions and waste are eliminated systematically from of both our staff and our customers. halstrup-walcher
all relevant processes. This liberates the whole team to has now begun exporting its insights into lean manage-
concentrate fully on the real needs of our customers. ment and offers these as a service to medium-sized
enterprises.
Methods Customer's benefit
Desired batch sizes

Freedom from
AND
disruption and waste
reasonable prices
Short delivery times

LEAN Shop floor management AND
MANAGEMENT
outstanding deadline compliance
High flexibility
(modifications, improvements)
Pull-based production
AND
outstanding product quality
Contents
Overview of positioning systems p. 5
Changing format with positioning systems p. 6
IP protection classes and bus communication p. 7
Direct / indirect wiring p. 8
Find the right positioning system p. 10
The right brake p. 11
PSE / PSS / PSW 3 series
p. 13
device and software features
Positioning system 2 series p. 38
HIPERDRIVE positioning systems p. 39
Analogue positioning systems p. 44
Configure your
positioning system
Just click to go to the appropriate positioning
system. Find your optimal device with our product
configurator. You can then:
yy view technical details
yy compare products or
yy make a direct request for an offer or advice.
www.halstrup-walcher.de/configurator
or
 Navigation point: „Products“
 Find a product
 Positioning systems
4
Compare our positioning systems
PSE 3 series PSS 3 series PSW 3 series PSE 34_-14 PSE 2 series HIPERDRIVE HDA 70 PSE 100 / 200 PSE 272
30_- 8  20
30_- 8  27 30_- 8  32
30_ / 32_-14  21
30_ / 32_-14  28 30_ / 32_-14  33
31_- 8  22
Model  page 31_- 8  29 31_- 8  34 26 38 41 44 45
31_ / 33_ - 14  23
31_ / 33_ - 14  30 31_ / 33_ - 14  35
3210 / 3218-14  24
3210 / 3218-14 31 3210 / 3218-14 36
3310 / 3325-14  25
Protection class IP 54 IP 65 1) IP 68 2) IP 54 IP 54 IP 65 IP 55 IP 65
analog set value:

Bus CA, DP, SE, EC, DP, EC, PN, EI / 0 .. 10 V (R L > 2 kΩ)
CA, DP, DN, MB, SE, EC, PN, EI, PL, IO CA, DN, MB 0 / 4 .. 20 mA (R L < 500 Ω)
communication 3) PN, EI, PL, IO RS 485 via Hub
supply voltage: 230 V AC
Motor EC-motor EC-motor DC-motor EC-motor AC- / DC-motor
Nominal torque 1 .. 25 Nm 1 .. 18 Nm 10 / 18 Nm 1/ 2 Nm 15 Nm 1 .. 10 Nm 0.75 .. 5 Nm
Self-holding torque 0.5 .. 12.5 Nm 4) 0.5 .. 9 Nm 5 .. 9 Nm 4) - 25 Nm - -
Nominal speed 10 .. 210 rpm 17 .. 210 rpm 35 .. 180 rpm 60 / 80 rpm 20 .. 80 rpm 27 rpm 0.25 .. 30 rpm 2 .. 60 rpm
8 mm hollow shaft (only for 30_, 31_), 14 mm hollow shaft 8 mm solid / 10 mm solid shaft,
12 mm 8 mm
Output shaft 14 mm hollow shaft, with clamp and feather hollow shaft with 10 / 12 mm
solid shaft solid shaft
8 / 14 mm solid shaft (only for PSS / PSW) keyway adjustable collar hollow shaft
Measurement absolute, absolute, quasi absolute, quasi absolute,
absolute absolute
system 5) optical-magnetic optical-magnetic magnetic magnetic-mechanical
unlimited
(quasi absolute 50 rotations
250 measurement system) 32 000 (PSE 200)
Positioning range 250 rotations 6) 15 rotations
rotations 6) 64 rotations rotations 20 rotations
(absolute (PSE 100)
measurement system)
optional via jog key
Jog keys optional via jog key contacts 7) - on board - -
contacts 8)
2 % of 2 % of
Accuracy ± 0.9° ± 0.9° ± 0.9° ± 1°
positioning range positioning range
Manual
standard, only possible with 14 mm output shaft standard - - - -
adjustment
optional not required due to
Brake 9) optional (holding brake) for 14 mm output shaft - - -
(friction brake) self-holding torque
1)
under installed and wired conditions
2) HIPERDRIVE Hub
IP 68 at standstill, IP 66 during rotation (tested with water)
3) with DP, EC, PN, EI
see p. 7 for bus abbreviations
4)  42
with current
5)
generally without battery, therefore maintenance-free
6)
without mechanical limitation
7)
not for PSW or IO-Link, always via an extra connector
8)
not for CANopen
9)
please see brake selection guide on p. 11
5
Adjust formats with positioning systems
Your customers want increasing flexibility in machines.
Machines and plants require minimal set-up times. When a machine is converted, many objects are posi-
Conversion is therefore automated more often as well. tioned on adjustment axes in the entire process: guide
More and more bottlers are, for instance, demanding rails, labellers and inspection cameras. Our positioning
high flexibility when it comes to changing bottle formats: systems adjust these axes to the new position in the
after small round ones, a quick changeover must be control unit immediately after the demand – quickly and
made to tall square bottles. precisely.
extremely accurate
positioning extremely
(< 0.01 mm) extremely accurate accurate
positioning positioning
(< 0.01 mm) (< 0.05 mm)
high
shear force
short gap to short gap to

format change format change
packaging machines filling plants machine tools / woodworking
Take advantage of the 3 benefits of automation

Compared to manual adjustment, automation with our positioning systems offers 3 key benefits:
1 Saves time: It is already possible for production to start in the new format just after the demand –
several axles are adjusted at the same time and there is no need to wait for staff
2 Increased quality: A defined format is always adjusted the same way –

the positions vary with manual adjustment
3 Self-monitoring: When there are unwanted changes to the position, the position correction immediately
resets the desired position. Thanks to their self-analysis and early warnings, our positioning systems provide
support for predictive maintenance – to improve your machine’s availability (see also page 17).
manual adjustment
using hand wheel
automated format
change using
order for positioning systems
format width / conversion
position of the to format 2
machine axle incorrect position
still uncorrected
errors in setting hand
production begins wheels lead to rejections 3
in format 2 2
production 1 major delay to start of immediate adjustment

in format 2 production in format 2 if errors occur in the
operation
time delay:
1. wait for personnel
2. s everal hand wheels axle is inadvertently
production pushed out of position
in format 1 must be set
time
Gain time and avoid errors with automated format changeovers
6
Flexible protection classes
and bus communication
Flexibility in IP protection classes

For dry, damp or wet areas: For applications such as these, standard devices
we have the right solution for you. with the protection class IP 54 are an ideal solution.
The protection required by a component against penet- Hygienic applications in the food processing and
ration by moisture and dust / objects is stated using the pharmaceutical sectors as well as other critical
IP protection class (IP = International Protection Code). applications require a higher protection class.
This is achieved by using more resistant materials
Many machines are used under normal manufactu- (e.g. stainless steel) as well as suitably designed seals.
ring conditions and therefore require no additional These measures are relevant to the overall cost of the
moisture protection for the positioning system. Good solutions, so halstrup-walcher offers devices in both the
resistance to dust and robust safety standards are far IP 65 and IP 68 segments.
more important.
PSE / PSS / PSW PSE 3 series PSS 3 series PSW 3 series

p. 20 - 26 p. 27 - 31 p. 32 - 36
3 series (E = Efficient) (S = Stainless) (W = Washable)
HIPERDRIVE - - HDA 70, Hub p. 41 - 42 - -
PSE 21_ / 23_-8 p. 38
Further products PSE 272 p. 45 - -
PSE 100 / 200 (IP 55) p. 44
We speak your language: the appropriate bus system for your machine
Machinery and plant builders frequently have to demonstrate a high level of flexibility in the range of bus
communication standards they offer – and meet the wishes of the machine’s user. halstrup-walcher supplies
the best possible support for meeting these requirements: all standard bus systems are developed and manu-
factured in-house. Thus we can offer you optimal solutions for your application.
(via hub)
RS 485
Abbreviation CA DP DN MB IO SE EC PN EI PL
Positioning system page
PSE 21_ / 23_ 38   
PSE / PSS / PSW
20 - 36          
30_ / 31_ / 32_ / 33_
PSE 34_ 26        
HIPERDRIVE HDA 70 41     
HIPERDRIVE Hub 42    
7
Flexibility with wiring
Your choice: Direct or indirect wiring via hub / gateway
You include positioning systems at various places in a machine. Wire the devices in the way that best suits
your machine. You can connect our positioning systems in two ways:
1. Direct bus connection to the control unit: Line or ring wiring of all positioning drives
2. Indirect connection with interposition of a hub or gateway (= distributor) via a single cable
Direct wiring –
save space and distributors PSE / PSS/ PSW
HIPERDRIVE HDA
(with adapter)
PSE / PSS / PSW 3 series
With direct wiring, bus communication occurs directly
from the control unit to the positioning system, with-
out an additional bus distributor. The signal is looped
through a second bus connection to the next device.
You thus connect the drives as series (for CANopen, field bus
PROFIBUS DP, DeviceNet and Modbus) or ring (all Eth-
ernet-based buses). If a component fails, further signals
control
are provided to the control unit with a ring connection.
Another cable gives the systems their power supply. ring wiring positioning
The motor and control unit are powered separately in (for Ethernet- systems
based buses)
the device. Galvanic separation makes constant access
to bus signals possible – even if the motor power supply
is interrupted, for instance by an emergency shut-down.
Connection to control unit

via field buses
Positioning systems PSE/PSS/PSW
Advantages compared to indirect wiring: VDC
• ave on installation space and take advantage

S
of the positioning systems’ compact design
• Save costs for additional bus distributors
VDC
HIPERDRIVE family
The HIPERDRIVE product family also provides an option VDC
for direct wiring with the HDA 70. We install an adapter
for bus communication in the device for that.
8
Indirect wiring –
save t
ime and cables PSE / PSS / PSW HIPERDRIVE HDA
With indirect wiring, the positioning systems are

connected to the control unit via a hub / gateway.
Advantages compared to direct wiring:

field bus
• Only 1 cable on the device: The positioning system’s
power supply and bus communication take place
through the same cable. control
• Machine looks tidy: nearby components are bundled hub /

gateway positioning
and combined into one unit via a hub / gateway. systems
Indirect wiring of positioning system 3 series

Connection to Connection
control unit to control unit Power supply via A-cod. cable
via field bus via field bus Bus connection via D-cod. cable
Bus connection via
y-cod. hybrid cable
VDC
VDC
VDC
VDC
VDC
INDUSTRY HUB
HUB VDC
1 2
Positioning systems in the 3 series connect you to the

control unit via a standard hub. Power can be supplied
to the devices in 2 ways:
1 1 standard Y-coded cable is connected to the
device for bus communication and power supply
(Ethernet-based buses, other buses on request).
The cable must be spliced.
2 A D-coded cable is connected to a hub for bus com-
munication (Ethernet-based buses without Sercos).
Power is supplied to the positioning systems with an
A-coded cable.
For IO-Link, a standard A-coded cable is used for bus 2
communication and power supply.
Indirect wiring of
HIPERDRIVE family
The HDA 70 is connected to the control unit via the
HIPERDRIVE hub. The hub controls up to 8 drives and
has power fuses. The control cabinet is thus relieved.
The hub converts the bus commands into standard
signals. If bus communication is changed, the HIPER-
DRIVE positioning systems can remain unchanged. Only
the hub has to be changed. Time-consuming alterations
and stock keeping are thus minimised.
9
via RS485 to Hub (then via Profibus, Eth
etc.); with HDA 70 also Profibus, Device
Find t
he right positioning system EtherCAT on board
rpm CAN, DeviceNet or Modbus on board

You already know your torque / speed range and
240 are looking for
allthebusses
appropriate
on model.
board
IP 54
IP 65 For example you require the protection class IP 54
210
IP 54 & 65 and a maximum with hollow
torque of 2 Nm.shaft 8 mm
The speed should
PSE 3x
IP 68 be greater than 100 rpm.
PSS 3x with hollow shaft 14 mm, optional with
180  PSE 3
PSW 3x
Transversal
This graphic always version
shows the nominal torque -
150
nominal rated speed combinations for the
Longitudinal
halstrup-walcher version
positioning systems. It is intended
to provide an initial guide and enable you to find the
120 correct positioning systems based on the required
torque range.
90
60
PSE 34x
PSE 2x 10 .. 18 Nm
30 HDA 70
PSE 3x
10 .. 25 Nm
1 2 4 8 16 32 Nm
Calculate the torque positioning system
(relevant for vertical positioning)
You know the mass to be positioned and are looking for the
appropriate torque when making a vertical adjustment?
The following “back-of-an-envelope” calculation allows you to
calculate the approx. torque required. But it does not consider the
torque requirement with friction. Another option (for machines that
are already operational) is to measure the actual value using a
torque measurement device.
mass to be
m [kg] x s [mm] positioned m [kg]
torque M [Nm] = x T
(if unknown) 630
T = 1.1 for ball screw spindle spindle guide rail

= 3.3 for trapezoidal threaded spindle with pitch s [mm]
Example: mass m: 50 kg, spindle pitch s: 4 mm, T: trapezoidal threaded spindle
50 kg x 4 mm
torque M [Nm] = x 3.3 Nm = 1.04 Nm
630
 A positioning system with 2 Nm
torque should be selected. (30 % reserve)
10
The right brake
(relevant for vertical positioning)
Selection of the appropriate brake positioning system
When objects have to be positioned vertically (i.e. moved

up and down), it should not be forgotten that gravity
continues to act when they are at rest. There are various
requirements here: The position must be maintained at
least approximately for safety reasons. Some applications
also require the position to always be maintained pre-
cisely even when the power supply is switched off. The
various possibilities are given below.
positioning
object
guide rail
spindle
Please note the following situations and solutions:
Requirement Solution Technical description
1. Object needs not to be yy PSE / PSS / PSW without optional yy Self-holding torque acts when
held in position when pow- brake, with ball screw power supply is active
er supply is switched off.
yy When the power supply is swit-
ched off, the object is not held in
position (no braking effect)
2. Object must be held in yy PSE / PSS / PSW 3_-14 with optional yy Mechanically held in approximate1)
approximate position Snap-on brake (holding brake) 2) or position
when the power supply
yy PSE 34_-14 with integrated
is switched off.1)
retarder (friction brake) 2)
3. Object must be held yy HIPERDRIVE HDA 70 stays due to yy Mechanically held in the exact
exactly in position even very high self-holding torque position
when the power supply
yy PSE / PSS / PSW without optional
is switched off.
brake, but with trapezoidal threaded
spindle instead of ball screw spindle
yy PSE / PSS / PSW with external,
e.g. pneumatic brake
1)
< 0,5 mm 2)
see order key on p.18
11
Positioning
systems
3 Series
PSE
PSS
PSW
PSE / PSS / PSW
The compact and future-proof system solution
Your machine needs minimal set-up times with high repeating accuracy and optimum availability. Do you want
to be flexible with bus communication and IP protection? Have you also got space you can’t afford to lose?
halstrup-walcher has been supplying positioning systems All the functions are integrated into a very small space
to well-known machinery and equipment manufacturers (as shown in these 3D illustrations). The systems man-
for over 20 years. The successful PSE series (IP 54) is age without additional bus distributors, saving you
supplemented by the PSS (IP 65) and PSW (IP 68) series. space and money.
All three series are interchangeable in terms of their Important information for you as a partner: Not only are
connection dimensions and they are available with a the electronics and mechanical systems developed in-
wide range of different bus systems. house, they are also manufactured in-house – from the
The 3 series positioning system combines precise posi- gear wheels to the SMD circuit boards. This allows us to
tioning with unrivalled compactness. respond flexibly to your requirements and keep quality
and delivery times under control.
M12 connectors (male and female)

for power supply and bus communication
circuit boards for motor control,

bus communication, power supply
EC-motor
absolute encoder
multistage gearbox
manual disconnecting level1)
hollow shaft
1)
for 14 mm shafts
1 machine concept – in 3 IP protection classes and with 10 buses

Our comprehensive construction kit system lets you We have designed a universal product family for all 3 rele-
adapt both the bus communication and IP protection vant IP protection classes: IP 54 (PSE), IP 65 (PSS) and
class to your customer wishes. In the process, the IP 68 (PSW). You can say goodbye to bulky covering boxes
relevant dimensions do not change. This generates for higher IP protection classes. These are welcome ad-
noticeable savings for you when altering and adapting vantages for any mechanical engineer – especially consid-
products for customer-specific machines. ering the restricted size of the installation spaces available.
IP 54
one
modular
family of
IP 65 positioning
systems
for all of
the format
adjustments
your machines
require
IP 68
different bus communication options different protection classes
13
Device features | Advantages of the PSE / PSS / PSW 3 series
Absolute measurement system

The PSE / PSS / PSW positioning system always knows its exact position:
• Absolute measurement system right on the output shaft
• No battery – no maintenance costs
• No positioning errors even if the power supply is interrupted
• No reference run – no time wasted
Measured by the halstrup-walcher combination encoder on the basis of:

1. the number of total rotations (n x 360 °),
 250 rotations are recorded (not mechanically limited)
 8 bit encoder (optical)
 error = 0 (pure counting function)
2. the degrees of angle of the last rotation
 400 increments per rotation (magnetic)
 error = max. 1 increment per 360 °, i.e. between 0 ° and 0.9 ° total error
POSITIONING ACCURACY STAY SAFE EVEN WHEN

Because any error is only contributed by the “last rotation“
PROBLEMS OCCUR
(max. 0.9 ° of 360 °), the error contribution x in the position is: The motor and control units have separate power
supplies and are galvanically separated. This pre-
0.9 ° x vents problems due to interferences being passed on
=  x = max. 0.0125 mm (spindle pitch 5 mm)
360 ° 5 mm from the motor to the control unit. It also guarantees
x that bus communication remains available even during
 x = max. 0.0100 mm (spindle pitch 4 mm) an emergency stop; it is still possible to read out the
4 mm
status and current actual position.
In practice, there is also an error contribution associated output

with inconsistencies in the spindle. brake,
motor gearbox
optional
The encoder is located on the output shaft, which prevents
additional errors due to gear backlash.
power position
24 V DC adapter measurement
 Optimum precision for all positioning applications (motor) system
power
24 V DC
adapter
1. galvanic
(control)
separation
... ... databus bus

control
40.36 40.38 interface actual value
40.37 mm
2. galvanic
separation
EC-MOTOR Status LED

Durable in every detail. Our positioning drives Recognise the current status.
S should be robust and durable. This is why we always Status LEDs always show the positi-
N use high quality brushless EC-motors, which do oning system’s current status. Errors
not wear and which drive the positioning system are signalled without looking into the
accurately. control unit.
14
Easy mounting with hollo w shaft
Mechanical adaptations with minimal effort. The output shaft of the positioning system has to be adapted to the application.
A hollow shaft with an adjustable collar has proven itself an effective and reliable solution for this task. Torque support is also
very easily implemented using a pin. This eliminates the need for a coupling with intermediate flange. This saves additional costs,
longer assembly times and space.
Mounting with hollow shaft Mounting with solid shaft and coupling
threaded spindle, bearing mounted on both sides threaded spindle, bearing mounted on both sides
machine machine solid shaft
collar on hollow shaft
€
bellows coupling with
torque support intermediate flange
Fast set-up ADDRESS SWITCHES 1)

To set up the system or a replacement, simply install Addressing – right on the device
the unit and assign the address using the address se- You can set the address of the individual positioning system
lection switches – the positioning system immediately directly on the device itself. This avoids the confusion and
receives all the parameters from the predecessor unit mistakes of several positioning systems that can occur when
via the control.The absolute encoder removes the need addresses are set via the control unit. It also simplifies the
for a reference run. process of setting the address manually when a device is
replaced during servicing or maintenance work.
absolute position
0 0
9 1 9 1
2
2
8
8
3
3
7
6 4 6 4
5 5
integrated address switches

1)
ot for IO-Link – here the address is set
n
min. position max. position using the slot on the master
JOG KEY OPERATION 2) Manual adjustment 4)

Simplifying setup. Manual gearbox adjustment.
When the machine is being set up, the required zero po- Sometimes it is necessary for the user to be able to turn
sition must first be measured and then programmed into the spindle connected to the positioning system man-
the control. Often, the optimum position is approached ually. Here, the manual disconnecting lever is used to
in a number of increments. Jog key operation simplifies disconnect the brake and a pinion is then coupled to it for
this process. Using two direction controls, the user can manual adjustment. The gearbox can then be adjusted
quickly proceed to the appropriate zero position either using a key / wrench.
on-site or using the control panel without the need for
bus communication. The PSx 3 series 3) has optional jog
key contacts, which can be activated via the machine
panel, for example. electronics electronics
e.g. jog key box

(see p. 19) motor motor
gearbox gearbox
encoder encoder
2)
optional
3)
not for PSW or IO-Link,
always via an extra connector 4)
standard for 14 mm shafts, not for 8 mm shafts
1515
Software features | Advantages of the PSE / PSS / PSW 3 series
Limiting TORQUE generator operation

The PSx 3 series is capable of regulating the torque so that it does For vertical positioning with ball screws, e.g. with
not exceed the threshold value specified in the customer parameters: gradients of about 4 .. 10 mm and weights from
100 kg, regenerative operation may be possible
yy effective overload prevention (gearbox, application,…)
during shutdown. This is permitted for PSx under
yy temporary peak torque levels are deliberately permitted the following conditions:
(to avoid unnecessary run aborts)
• several devices are connected to the same
The motor stops if the load is too high according supply: only 1 PSx may be in regenerative
to specific conditions! operation (shutdown)
torque • if several devices are acting as generators
[Nm] simultaneously, an additional overvoltage
protection must be provided
torque above threshold value
The energy produced during regenerative ope-
ration is delivered to the supply network via a
feedback circuit and must be taken off there.
time
THE DIFFERENCE BETWEEN OBSTACLES AND DIRT

Intelligent running behaviour. In practice, it is always possible that the rotation of the spindle can
be obstructed in some way. In the most extreme case, this can be “running into an obstruction“, e.g.
if the object to be positioned has reached its mechanical limit position. However, dirt or dust on the
spindle can cause it to run less easily.
In practical applications, it is important to be able to differentiate between these two scenarios: When
the system detects a genuine obstruction it should stop immediately. If the problem is dirt, it should
accelerate in order to overcome the blockage effectively. The PSx series of positioning systems can
differentiate between these two scenarios within milliseconds and react accordingly.
SPINDLE OFFSET RUN WELL SYNCHRONISED

Excluding inconsistencies due to lash in the spindle. Parallel movement of an object by two
Due to dirt or slight inaccuracies, every spindle has a certain ele- positioning systems.
ment of lash which becomes noticeable during changes in direc- If two positioning systems are required to
tion. For this reason, the positioning system can be parameterised move a broad or heavy object, they must be
to ensure that the target position is always approached from the perfectly synchronised to avoid tipping.
same side (in the diagram: from the left). This eliminates the effect The PSx series of positioning systems has
of spindle lash on positioning accuracy. Naturally, the process is been performing this task reliably in many
monitored to prevent running into an obstruction. applications for years. It is achieved through
the use of a very fast drag error control unit.
Find out more on the next page.
starting target starting
position 1 position position 2
min. position max. position

PSx 1 PSx 2
parameterizable loop length
16
16
Condition monitoring | self-monitoring
The availability of the machine is critical – Temperature monitoring

and this is supported by condition monitoring.
The machine‘s central control unit detects The temperature is also monitored
problems before they occur and enables to protect the drive and compo-
technicians to take prompt action. Numerous nents. If this is exceeded or fallen
diagnostic messages are therefore generated short of, the motor is shut down.
in the 3 series positioning systems for predic-
tive maintenance of machinery. A selection of
these are presented on this page.
SUPPLY VOLTAGE
voltage
Continuous monitoring of the voltage level.
If situations involving excessive or insufficient voltage occur voltage too high
regularly, the causes should be thoroughly investigated. The
PSx series of positioning systems are programmed to ignore
very short “spikes“ but report all overvoltage or undervolt-
voltage too low
age events that exceed a specified duration. This enables the
overvoltage bit set to 300 ms time
operator to detect errors in the supply chain before they cause (spikes are deliberately ignored)
damage or standstills.
No drag errors CONTINUOUS MONITORING OF

Optimum adjustment of the actual position in
POWER CONSUMPTION
accordance with the specified target position is one of AND TORQUE
the key quality features of the positioning systems in
the PSx 3 series. If the control unit detects that one Monitoring these important values can prevent the
positioning system is falling behind, it accelerates it in positioning system being overloaded. It also allows
order to minimise “drag errors“. This ensures that the the application to be protected in specific ways, e.g.
two systems are well synchronised, as shown on p. 16. against the effects of excessive torque. In principle, any
The drag error monitor is also used to provide early deviation from the normal progress stored in the control
warnings. Dirt can make it impossible to reach the target unit can provide an indication of a malfunction – this
position within a specified time. This situation is also makes it possible actively to avoid problem situations
passed on to the control unit directly as a “condition and damage to equipment. Wear and tear of the spindle
monitoring“ message. is also detected.
distance
torque
target progress actual progress not OK
actual progress
drag error
tolerance range target progress
time distance
17
17
Order key PSE / PSS / PSW 3 series
All the positioning systems in the PSE / PSS / PSW 3 series share the same order key.
To provide the best possible overview and to simplify customer documentation, the diverse range of options available
for the PSE / PSS / PSW 3 series has been organised in a shared order key.
A B C D E F
Order key
PSE / PSS / PSW: – – – – –
Pro- A B C D E F
tection Design Type Bus communication Connections Brake Certification
class (see p. 7) (see p. 11)
Positioning System
CA: CANopen
Efficient IP 54 PSE
DP: PROFIBUS DP 0: standard 0:
(see p. 20 - 25) 1)
DN: DeviceNet T: with jog keys 3) N: NRTL certification
Positioning System 30x-8 / -14 (V)2) MB: Modbus RTU in accordance with
Stainless IP 65 PSS 31x-8 / -14 (V) 2) SE: Sercos Y: 1 connector, 0: without UL, CSA, ANSI and CE
(see p. 27 - 30) 32x-14 (V) 2) EC: EtherCAT Y-encoded M 4): with
33x-14 (V) 2) PN: PROFINET Z: 1 connector,
Positioning System EI: EtherNet/IP Y-encoded,
Washable IP 68 PSW PL: POWERLINK with jog keys 3)
(see p. 32 - 35) IO: IO-Link
1)
You can find the order 2)
(V) not for PSE 3)
ot for PSW or IO-
n 4)
nly with
o
key for the PSE 34_-14 Link, always via an 14 mm out-
on page 26. extra connector put shafts
Standard equipment (connections)

Form / Type Torque Output shaft
yy always provided with 3 plugs / x = 1 Nm
sockets (not for IO-Link or Y- horizontal 30 x = 2 Nm 8 = 8 mm hollow shaft
encoded connector)
vertical 31 x = 5 Nm 14 = 14 mm hollow shaft
yy address switches always provid- horizontal 32 x = 10 Nm 8V = 8 mm solid shaft 6)
ed (also IE-buses, not for IO-Link) x = 18 Nm 14V = 14 mm solid shaft 6)
vertical 33 Examples of orders
For further information on connections x = 25 Nm 5) provided below.
and address settings see also “Over-
only for PSE
via only for PSS / PSW
RS485 to Hub (then via Profibus, EtherCAT
5) 6)
view: bus communication” on p. 47.

etc.); with HDA 70 also Profibus, DeviceNet or
EtherCAT on board
rpm CAN, DeviceNet

Torques or Modbus on board
and speeds
240 all busses on board
Example 1
210 PSE / PSS 30 / 31 You requirewith hollow class
the protection shaftIP 54
8 mmand a maximum
PSE PSE / PSS 32 / 33 torque of 2 Nm. The speed should be greater than 100
PSS PSE / PSS 3210 / 3218 with hollow shaft 14 mm, optional with brake
rpm. An 8 mm hollow shaft and longitudinal construction
180 PSW 30 / 31
PSW 32 / 33 meet the requirements of your application.
Transversal version
Your wish to use EtherNet / IP as the bus and connect
PSW
150 the PSE to the control unit using a hybrid connector and
Longitudinal
hub. You do versionholding brake in
not require an additional
your application.
120
 PSE 312-8-EI-Y-0 - 0
90 Example 2
IP 68, max. 3 Nm, > 100 rpm, horizontal construction,
60 14 mm solid circular shaft, IO-Link via a connector,
PSE 34x
10 .. 18 Nm with brake.
PSE 3
30 18 .. 25 Nm  PSW 325-14V-IO-0-M - 0
PSW
PSE 33x
10
10....18
25Nm
Nm
1 2 4 8 16 32 Nm
Nominal torque – nominal speed combinations
18
Accessories PSE / PSS / PSW 3 series
The connectors shown here can be used for all three types of device (PSE / PSS / PSW). This ensures that the PSE
(IP 54) and PSS (IP 65) comply with the IP protection classes. We will also be pleased to help you find a suitable
mating connector for the PSW (IP 68) if necessary – just ask us!
Power supply Power supply + databus (2x) Cable and connectors for
Bus communi-
+ databus connector (2x) + jog key connector 1-connector solution 2)
cation
(for option 0) 1) (for option T, not for PSW) 1) (for option Y or IO-Link) 1)
CANopen 3)
Profibus DP
Modbus RTU
Connector set: Order no. 9601.0060 Connector set: Order no. 9601.0062 5 m: Order no. 9601.0245
10 m: Order no. 9601.0233
20 m: Order no. 9601.0234
DeviceNet
Connector set: Order no. 9601.0088 Connector set: Order no. 9601.0090
Sercos 5 m: Order no. 9601.0240

EtherCAT 10 m: Order no. 9601.0244
PROFINET
Hub on request
EtherNet / IP
POWERLINK Connector set: Order no. 9601.0112 Connector set: Order no. 9601.0317
IO-Link 3) - -
Connector: Order no. 9601.0107 2)

1)
see under “D” in the order key 2) power supply and bus via one cable, without second databus connector
4)
A- or B- coding of the connectors is possible
Further Accessories
Jog key box (for option T, not for PSW) Screw cap to cover the second bus connection
Order no. 9601.0241 (for PSS / PSW) Order no. 9601.0176
Modules anD DescRiption FIles

Take advantage of our functional modules or description
files for the various buses. You can download the files on
our website:
www.halstrup-walcher.de/en/software
19
PSE 30_-8
Product Nominal Self-holding Nominal rated

torque torque speed
hollow shaft
PSE 301-8 1 Nm 0.5 Nm 210 rpm ø 8H9 / 20 depth torque support
PSE 302-8 2 Nm 1 Nm 115 rpm 15 63
R
15
PSE 305-8 5 Nm 2.5 Nm 40 rpm
28
Data interfaces
ø 36
30±0.1
CANopen, PROFIBUS DP, DeviceNet, Modbus RTU, Sercos,
EtherCAT, PROFINET, EtherNet / IP, POWERLINK, IO-Link
ø 6h9
145
Duty cycle 30 % (basis time 300 s)
Mode of operation S3
6
Supply voltage 24 V DC ± 10 %
galvanically separated between
control and motor and bus
Nominal current 2.2 A

Power consumption (control unit) 0.1 A
Positioning accuracy 0.9 °
absolute measurement of position taken
directly at the output shaft
Positioning range 250 rotations 60

not subject to mechanical limits
Shock resistance 50 g 11 ms removeable sight glass

in accordance with IEC / DIN EN 60068-2-27
18
for LED status / address switches

Vibration resistance 10 .. 55 Hz 1.5 mm /
in accordance with IEC / DIN EN 60068-2-6 55 .. 1 000 Hz 10 g /
21
10 .. 2 000 Hz 5 g
Output shaft 8 mm hollow shaft jog key input
with adjustable collar
Maximum axial force 20 N 18 21 11
Maximum radial force 40 N

Characteristic curve
Ambient temperature 0 .. 45 ° C rpm
min -1
for PSE 30_-8
250
Storage temperature - 10 .. 70 ° C
Protection class IP 54 200
PSE 301-8
Weight 650 g
150
Certificates CE, optional: NRTL (UL, CSA, ANSI)
The order key and accessories can be found on p. 18 / 19. 100

PSE 302-8
All dimensions in mm.

50
For details of the connections
PSE 305-8 please see also p. 47 and the
instruction manual.
0 5 10
Nm
20
PSE 30_ / 32_-14

torque torque speed
hollow shaft cover, manual adjust- PSE 301-14 1 Nm 0.5 Nm 210 rpm
ø 14H7 / 20 depth ment beneath torque support
13 70 PSE 302-14 2 Nm 1 Nm 100 rpm
PSE 305-14 5 Nm 2.5 Nm 40 rpm
PSE 322-14 2 Nm 1 Nm 150 rpm
25
PSE 325-14 5 Nm 2.5 Nm 68 rpm

ø 35
30±0.1
1 Data interfaces
ø 6h9

150
6 1

83.5
galvanically separated between control
and motor and bus
Nominal current PSE 30_: 2.4 A, PSE 32_: 3.1 A

86 56 Positioning accuracy 0.9 °

30
Positioning range 250 rotations
removeable sight glass for not subject to mechanical limits
LED status / address switches
Shock resistance 50 g 11 ms
22
21

jog key input 10 .. 2 000 Hz 5 g
14 25 Output shaft 14 mm hollow shaft
rpm
min
-1
for PSE 30_ / 32_-14 Snap-on brake optional (holding torque = nominal torque)

250
Maximum axial force 20 N
PSE 301-14
200 Maximum radial force 40 N
Ambient temperature 0 .. 45 ° C
150 PSE 322-14
100 Protection class IP 54

PSE 302-14
PSE 325-14 Weight 1 200 g

50
For details of the connections Certificates CE, optional: NRTL (UL, CSA, ANSI)
instruction manual. The order key and accessories can be found on p. 18 /19.
0 5 10
Nm
21
PSE 31_-8

torque torque speed removeable sight glass for
LED status / address switches torque support
PSE 311-8 1 Nm 0.5 Nm 210 rpm
B
ø 6h9
PSE 312-8 2 Nm 1 Nm 115 rpm 6
PSE 315-8 5 Nm 2.5 Nm 40 rpm
ø 36
Data interfaces
15
Duty cycle 30 % (basis time 300 s) hollow shaft
A ø 8H9 / 20
Mode of operation S3 depth
galvanically separated between control A B
and motor and bus
PSE 311
Nominal current 2.2 A 115 70
PSE 312
Positioning accuracy 0.9 ° PSE 315 123 78

23±0.1

56

10 .. 2 000 Hz 5 g
Output shaft 8 mm hollow shaft
with adjustable collar jog key input
56
Ambient temperature 0 .. 45 ° C rpm
min -1
for PSE 31_-8

250
Storage temperature - 10 .. 70 ° C PSE 311-8
Protection class IP 54 200
Weight 700 g
150

PSE 312-8
50 All dimensions in mm.

instruction manual.
0 5 10
Nm
22
PSE 31_ / 33_-14

hollow shaft removeable sight glass for torque torque speed
ø 14H7 / 20 depth LED status / address switches PSE 311-14 1 Nm 0.5 Nm 210 rpm
13 PSE 312-14 2 Nm 1 Nm 115 rpm
PSE 332-14 2 Nm 1 Nm 150 rpm
23
PSE 335-14 5 Nm 2.5 Nm 68 rpm

ø 35
Data interfaces
ø 6h9

6 99.5
125 Duty cycle 30 % (basis time 300 s)
jog key input
13.5 17 Supply voltage 24 V DC ± 10 %
and motor and bus
20.5
17.5
21.5
Nominal current PSE 31_: 2.4 A, PSE 33_: 3.1 A

21
62.5
30±0.1


11.3
11

6.84 21 48
cover, manual ad- torque support
justment beneath Vibration resistance 10 .. 55 Hz 1.5 mm /
10 .. 2 000 Hz 5 g
Snap-on brake optional (holding torque = nominal torque)
rpm
min-1
for PSE 31_ / 33_-14
250
PSE 311-14
200
PSE 332-14
150
Protection class IP 54
PSE 312-14 Weight 700 g
100

PSE 335-14
50
For details of the connections The order key and accessories can be found on p. 18 / 19.
please see also p. 47 and the
instruction manual.
0 5 10
Nm
23
PSE 3210 / 3218-14

torque torque speed M 4 x 16 hollow shaft ø14H7 / 20 depth with
PSE 3210-14 10 Nm 5 Nm 30 rpm DIN 912 clamp and feather key DIN 6885-A5 x 5 x 12
PSE 3218-14 18 Nm 9 Nm 17 rpm 13 70 56 5

R 1
removeable
sight glass
25
Data interfaces over a rotating
ø 35
manual adjust-
CANopen, PROFIBUS DP, DeviceNet, Modbus RTU, Sercos, ment shaft
EtherCAT, PROFINET, EtherNet / IP, POWERLINK, IO-Link 1 SW 6 / 8 depth hex
150
113.5
70.4
ø 6h9

and motor and bus
35

6
Positioning accuracy 0.9 ° 86
removeable sight glass
torque support for LED status / address switches
not subject to mechanical limits 51
1


21
22

10 .. 2 000 Hz 5 g
Output shaft 14 mm hollow shaft 14 26 30
with clamp and feather key
sealing plate, 2 mm thick
Storage temperature - 10 .. 70 ° C rpm
min-1
for PSE 3210 / 3218-14
40
Weight approx. 1350 g 30
PSE 3210-14

20
PSE 3218-14
The order key and accessories can be found on p. 18 / 19.
10
instruction manual.
0 10 20
Nm
24
PSE 3310 / 3325-14

torque torque speed
removeable sight glass PSE 3310-14 10 Nm 5 Nm 25 rpm
13 for LED status / address switches
2 x M4 x 16
DIN 912 PSE 3325-14 25 Nm 12.5 Nm 10 rpm
30.5
ø 35
Data interfaces
sealing plate
2 mm thick 5 Duty cycle 25 % (basis time 300 s)
134.5
161
hollow shaft ø14H7 / 20 depth with clamp galvanically separated between
and feather key DIN 6885-A5 x 5 x 12 56 control and motor and bus

28

83
76
90


8±0.1 Shock resistance 50 g 11 ms

removeable sight glass in accordance with IEC / DIN EN 60068-2-27
over a rotating manual
adjustment shaft Vibration resistance 10 .. 55 Hz 1.5 mm /
SW3 depth hex in accordance with IEC / DIN EN 60068-2-6 55 .. 1 000 Hz 10 g /
10 .. 2 000 Hz 5 g
Characteristic curve Ambient temperature 0 .. 45 ° C

rpm
min-1
for PSE 3310 / 3325-14
40
30
Weight 1350 g
PSE 3310-14
20
All dimensions in mm. The order key and accessories can be found on p. 18 / 19.
10
PSE 3325-14 For details of the
connections please
see also p. 47 and the
instruction manual.
0 10 20 30
Nm
25
PSE 34_-14
and motor and bus




10 .. 2 000 Hz 5 g
Ambient temperature 0 .. 45 ° C removeable sight glass hollow shaft
for LED status / ø 14H7 / 20 depth
Storage temperature -10 .. 70 ° C address switches
13 62
Weight 1 900 g
ø 35
Nominal Self-holding Nominal rated
80±0,1
A
torque torque speed
6
10 Nm 5 Nm 80 rpm 3410-14
200
18 Nm 9 Nm 60 rpm 3418-14
ø 6h9
142
Data interfaces B
91
80
22.5 21
CANopen CA
PROFIBUS DP DP
Sercos SE 13.5 66
EtherCAT EC cover, manual sealing plate mounting housing torque support
adjustment beneath 2 mm thick Harting Han 3A-agw
PROFINET PN for supply
EtherNet / IP EI
POWERLINK PL
IO-Link IO
Connections 1) C
without jog keys 0
with jog keys 1)
T
1)
not for CANopen
Brake D Characteristic curve

rpm
min
-1
no brake 0 for PSE 34_-14

100
with brake (holding torque = nominal torque) M

PSE 3410-14
80
Certification E
PSE 3418-14
60
CE 0
NRTL certification (in accordance with UL, CSA, ANSI and CE) M 40
Order 20 All dimensions in mm.

A B C D E For details of the connections
code
PSE – – – – – instruction manual.
0 10 20
Nm
26
PSS 30_-8

PSS 30_-8 (with hollow shaft) torque torque speed
screw hollow shaft PSS 301-8 1 Nm 0.5 Nm 210 rpm

DIN912 M4x16 ø 8H9 / 20 depth
15 62 R1 PSS 302-8 2 Nm 1 Nm 115 rpm
5
PSS 305-8 5 Nm 2.5 Nm 40 rpm
30±0.1 28
ø 36
Data interfaces
ø 6h9

6 EtherCAT, PROFINET, EtherNet / IP, POWERLINK, IO-Link
145
28
torque Duty cycle 20 % (basis time 600 s)

ø 42
support at nominal torque

35
3.5
R4
Supply voltage 24 V DC ± 10 % galvanically separated

60 between control and motor and bus
viewing window and access
to address switch and status display Nominal current 2.2 A
PSS 30_-8-V (with solid shaft)
72±0.1 R1 absolute measurement of position taken
60 5 15 62 80
R1 5 directly at the output shaft
10 Positioning range 250 rotations

28
ø 8h8

7

125±0.1
ø 4.5 (4x)
145

10 .. 2 000 Hz 5 g
ø 42
Output shaft 8 mm solid shaft or

35
8 mm hollow shaft
3.5 R4
28 viewing window and access to ad- Maximum axial force 20 N
dress switch and status display
rpm
min -1
for PSS 30_-8

250
Protection class IP 65 under installed and wired
PSS 301-8
200 conditions 1)
Material as for PSE, but with
150 stainless steel housing
PSS 302-8 Weight 650 g

100
50
All dimensions in mm. 1)
welded V2A housing, ball bearings at the output shaft with sealing disc
PSS 305-8 please see also p. 47 and the The order key and accessories can be found on p. 18 / 19.
instruction manual.
0 5 10
Nm
27
PSS 30_ / 32_-14

torque torque speed
PSS 30_ / 32_-14 (with hollow shaft)
PSS 301-14 1 Nm 0.5 Nm 210 rpm
hollow shaft
screw
PSS 302-14 2 Nm 1 Nm 100 rpm 13 71 ø 14H7 / 20 depth
DIN912 M4x16 56
38
PSS 305-14 5 Nm 2.5 Nm 40 rpm
25
ø 35
PSS 322-14 2 Nm 1 Nm 150 rpm
30±0.1
screw
PSS 325-14 5 Nm 2.5 Nm 68 rpm cover
plate1) h9
6 ø 6
150
Data interfaces torque support
can be varied by
83.5
CANopen, PROFIBUS DP, DeviceNet, Modbus RTU, Sercos, rotating the cover
EtherCAT, PROFINET, EtherNet / IP, POWERLINK, IO-Link by 180 °
70
35
Duty cycle 20 % (basis time 600 s) at nominal torque

Supply voltage 24 V DC ± 10 % galvanically separated viewing window and access to address
between control and motor and bus switch and status display
Nominal current PSS 30_: 2.4 A, PSS 32_: 3.1 A
PSS 30_ / 32_-14-V (with solid shaft)
71 R1
Positioning accuracy 0.9 ° 16 38 5 56
absolute measurement of position taken 10
ø 14h8
25

.5
13
Positioning range 250 rotations screw cover ø4

plate1)
150

96.5±0.1
106.5

70
10 .. 2 000 Hz 5 g
35

14 mm hollow shaft R4
with adjustable collar viewing window and 66±0.1
access to address switch 76
Snap-on brake optional (holding torque = nominal torque) and status display
Maximum axial force 20 N Characteristic curve 1)

over a rotating manual adjustment
rpm
min -1
Maximum radial force 40 N for PSS 30_ / 32_-14 shaft SW 6 / 8 depth hex
250

PSS 301-14
Storage temperature - 10 .. 70 ° C 200
Protection class IP 65 under installed and wired PSS 322-14

150
conditions 2)
100
stainless steel housing PSS 302-14
PSS 325-14
Weight 1 200 g 50
Certificates CE, optional: NRTL (UL, CSA, ANSI) PSS 305-14 please see also p. 47 and the
instruction manual.
2)
welded V2A housing, ball bearings at the output shaft with sealing disc 0 5 10
Nm
28 The order key and accessories can be found on p. 18 / 19.
PSS 31_-8

torque torque speed
PSS 31_-8 (with hollow shaft) PSS 311-8 1 Nm 0.5 Nm 210 rpm
viewing PSS 312-8 2 Nm 1 Nm 115 rpm
window and
access to
PSS 315-8 5 Nm 2.5 Nm 40 rpm
address switch
and status
display Data interfaces
122
torque CANopen, PROFIBUS DP, DeviceNet, Modbus RTU, Sercos,

78
support EtherCAT, PROFINET, EtherNet / IP, POWERLINK, IO-Link

6
15
at nominal torque
ø6h9 hollow shaft ø36
ø 8H9 / 20 depth Mode of operation S3
ø42
56
and motor and bus

23±0.1
4.5 28 Power consumption (control unit) 0.1 A
56
PSS 31_-8-V (with solid shaft) directly at the output shaft
56
4.5 Positioning range 250 rotations

ø42

122
viewing window
and access to ad- Vibration resistance 10 .. 55 Hz 1.5 mm /
dress switch and in accordance with IEC / DIN EN 60068-2-6 55 .. 1 000 Hz 10 g /
status display 10 .. 2 000 Hz 5 g
15
8 mm hollow shaft
10
ø8h8 7 with adjustable collar

ø 4
.5

48±0.1

56

rpm
min
-1
for PSS 31_-8

68±0.1 250 Storage temperature - 10 .. 70 ° C
76
PSS 311-8
200 conditions 1)
150 stainless steel housing

100
50 1)
please see also p. 47 and the PSS 315-8
instruction manual.
0 5 10
Nm
29
PSS 31_ / 33_-14

torque torque speed PSS 31_ / 33_-14 (with hollow shaft)
PSS 311-14 1 Nm 0.5 Nm 210 rpm viewing window and access to cover, manual
address switch and status display adjustment beneath
PSS 312-14 2 Nm 1 Nm 115 rpm
4.5
PSS 332-14 2 Nm 1 Nm 150 rpm hollow shaft
ø 14H7 / 20 depth
PSS 335-14 5 Nm 2.5 Nm 68 rpm
ø42
20.5 30±0.1
Data interfaces 25
135
torque support
99.5

62.5
at nominal torque
6
13
ø35 ø6h9
between control and motor and bus
Nominal current PSS 31_: 2.4 A, PSS 33_: 3.1 A PSS 31_ / 33_-14-V (with solid shaft)
viewing window and access to cover, manual
address switch and status display adjustment beneath
absolute measurement of position taken 4.5
ø 4
Positioning range 250 rotations 20.5

R4
.5
ø42

60±0.1
Shock resistance 50 g 11 ms 25

135
68

99.5

54.5±0.1
10 .. 2 000 Hz 5 g 62.5
3
13

10
13
14 mm hollow shaft ø14h8
Maximum axial force 20 N Characteristic curve
rpm
min
-1
for PSS 31_ / 33_-14

Maximum radial force 40 N 250
Ambient temperature 0 .. 45 ° C PSS 311-14

200
Protection class IP 65 under installed and wired 150
PSS 332-14
conditions 1)
PSS 312-14
Material as for PSE, but with 100
stainless steel housing
PSS 335-14
Weight 700 g 50
Certificates CE, optional: NRTL (UL, CSA, ANSI) please see also p. 47 and the
instruction manual.
1)
welded V2A housing, ball bearings at the output shaft with sealing disc 0 5 10
Nm
30 The order key and accessories can be found on p. 18 / 19.

PSS 3210 / 3218-14

hollow shaft torque torque speed
ø 14H7 / 20 depth PSS 3210-14 10 Nm 5 Nm 30 rpm
13 71 56 PSS 3218-14 18 Nm 9 Nm 17 rpm
Data interfaces
cover, manual CANopen, PROFIBUS DP, DeviceNet, Modbus RTU, Sercos,
adjustment
30

beneath

150
at nominal torque
113.5
Versorgungsspannung 24 V DC ± 10 %
70
galvanically separated between

35

ø6h9
6
torque viewing window and access to Positioning accuracy 0.9 °

support address switch and status display absolute measurement of position taken
26 Positioning range 250 rotations
ø42
14 not subject to mechanical limits
4.5

ø40

22

10 .. 2 000 Hz 5 g
25 7 Output shaft 14 mm hollow shaft
84

rpm
min-1
for PSS 3210 / 3218-14 Storage temperature - 10 .. 70 ° C
40

conditions 1)
30
PSS 3210-14
stainless steel housing
20
1)
instruction manual. The order key and accessories can be found on p. 18 / 19.
0 10 20
Nm
31
PSW 30_-8

torque torque speed
PSW 30_-8 (with hollow shaft)
PSW 301-8 1 Nm 0.5 Nm 180 rpm
15 66 R1 60
5
PSW 302-8 2 Nm 1 Nm 100 rpm
28
PSW 305-8 5 Nm 2.5 Nm 35 rpm
ø 36
hollow shaft
30±0.1
ø 8H9 /
20 depth
ø 6h9
Data interfaces
6
145
CANopen, PROFIBUS DP, DeviceNet, Modbus RTU, Sercos, torque
EtherCAT, PROFINET, EtherNet / IP, POWERLINK, IO-Link support
ø 42
35
at nominal torque
Mode of operation S3 3.5 R4
Supply voltage 24 V DC ± 10 % 28

viewing window and access to
and motor and bus address switch and status display

Power consumption (control unit) 0.1 A PSW 30_-8-V (with solid shaft)
absolute measurement of position taken ø 4.5 (4x)
directly at the output shaft 72±0.1 15 62 R1 80
5
28
10
ø 8h8

7

125±0.1
in accordance with IEC / DIN EN 60068-2-27 145

10 .. 2 000 Hz 5 g
ø 42

35
8 mm hollow shaft
3.5 R4
with adjustable collar viewing window
28 and access to address
Maximum axial force 20 N 60 switch and status display
rpm
min-1
Storage temperature - 10 .. 70 ° C for PSW 30_-8

250
Protection class IP 68 at standstill 1), IP 66 during
rotation (tested with water) 1)
200
Material stainless steel PSW 301-8
Weight 650 g 150
Certificates CE, optional: NRTL (UL, CSA, ANSI) PSW 302-8

100
1)
welded V2A housing, output shaft sealed with quad-ring
PSW 305-8
instruction manual.
0 5 10
32 Nm
PSW 30_ / 32_-14

torque torque speed
PSW 30_ / 32_-14 (with hollow shaft)
PSW 301-14 1 Nm 0.5 Nm 180 rpm
13 71
38 56 PSW 302-14 2 Nm 1 Nm 90 rpm
hollow shaft R15
ø 14H7 / 20 depth PSW 305-14 5 Nm 2.5 Nm 35 rpm
30±0.1 25
ø 35
PSW 322-14 2 Nm 1 Nm 125 rpm

torque support
6
ø 6h9
PSW 325-14 5 Nm 2.5 Nm 50 rpm

screw cover
150
plate 1) Data interfaces

70

35

at nominal torque
viewing window and
access to address switch Mode of operation S3
and status display
between control and motor and bus
PSW 30_ / 32_-14-V (with solid shaft)
Nominal current PSW 30_: 2.4 A, PSW 32_: 3.1 A
16 71
56 Power consumption (control unit) 0.1 A
38 R15
ø14h8
10 Positioning accuracy 0.9 °

25

5
13
screw cover ø 4. directly at the output shaft
plate 1) Positioning range 250 rotations

150
96.5±0.1

106.5

70

35
10 .. 2 000 Hz 5 g
viewing window and Output shaft 14 mm solid shaft or

access to address 66±0.1 14 mm hollow shaft
switch and status 76 with adjustable collar
display
Characteristic curve 1)
ver a rotating manual adjust-
o Maximum axial force 20 N
rpm
min -1
for PSW 30_ / 32_-14 ment shaft SW6 / 8 depth hex

250 Maximum radial force 40 N
200
PSW 301-14 Storage temperature - 10 .. 70 ° C
150 Protection class IP 68 at standstill 1), IP 66 during

PSW 322-14
100 Material stainless steel
PSW 302-14
All dimensions in mm. Weight 1 200 g

PSW 325-14
50
For details of the connections Certificates CE, optional: NRTL (UL, CSA, ANSI)
PSW 305-14
instruction manual. 1)
0 5 10
Nm The order key and accessories can be found on p. 18 / 19. 33
PSW 31_-8

torque torque speed
PSW 31_-8 (with hollow shaft)
PSW 311-8 1 Nm 0.5 Nm 180 rpm
ø 42
PSW 312-8 2 Nm 1 Nm 100 rpm 4.5
PSW 315-8 5 Nm 2.5 Nm 35 rpm

viewing
Data interfaces window
126
and access
82
to address
EtherCAT, PROFINET, EtherNet / IP, POWERLINK, IO-Link switch
and status
Duty cycle 20 % (basis time 600 s) display
6
15
at nominal torque ø 6h9
hollow shaft ø 36
Mode of operation S3 ø 8H9 / 20 depth
and motor and bus torque
56
support
R4 23±0.1
Power consumption (control unit) 0.1 A 56
Positioning accuracy 0.9 ° PSW 31_-8-V (with solid shaft)
Positioning range 250 rotations 4.5

ø 42
Shock resistance 50 g 11 ms viewing

in accordance with IEC / DIN EN 60068-2-27 window
126
and access
Vibration resistance 10 .. 55 Hz 1.5 mm / to address
in accordance with IEC / DIN EN 60068-2-6 55 .. 1 000 Hz 10 g / switch
and status
10 .. 2 000 Hz 5 g display
7
15
8 mm hollow shaft
10
7
with adjustable collar ø 8h8
ø 4
68±0.1
.5

48±0.1

56
Ambient temperature 0 .. 45 ° C Characteristic curve

rpm
min
-1
Storage temperature - 10 .. 70 ° C 76 for PSW 31_-8

250

rotation (tested with water) 1) 200
PSW 311-8
Material stainless steel
150
Weight 700 g
Certificates CE, optional: NRTL (UL, CSA, ANSI) 100
PSW 312-8
1)
50
The order key and accessories can be found on p. 18 / 19. For details of the connections
please see also p. 47 and the PSW 315-8
instruction manual.
0 5 10
Nm
34
PSW 31_ / 33_-14

torque torque speed
PSW 31_ / 33_-14 (with hollow shaft)
PSW 311-14 1 Nm 0.5 Nm 180 rpm
viewing window and access to cover, manual
address switch and status display adjustment beneath PSW 312-14 2 Nm 1 Nm 100 rpm
4.5 PSW 332-14 2 Nm 1 Nm 125 rpm
hollow shaft
ø 14H7 / 20 depth PSW 335-14 5 Nm 2.5 Nm 50 rpm
ø 42
Data interfaces
48
25 CANopen, PROFIBUS DP, DeviceNet, Modbus RTU, Sercos,

139
103.5

20.5 30±0.1
62.5
at nominal torque
6
13
ø 6h9
ø 35
screw Supply voltage 24 V DC ± 10 %
M4x16 DIN 912 galvanically separated between control
and motor and bus
Nominal current PSW 31_: 2.4 A, PSW 33_: 3.1 A
PSW 31_ / 33_-14-V (with solid shaft) Power consumption (control unit) 0.1 A
viewing window and access to cover, manual Positioning accuracy 0.9 °

adjustment beneath absolute measurement of position taken
address switch and status display

4.5 not subject to mechanical limits
20.5 ø 4.5
ø 42

60±0.1
25 Vibration resistance 10 .. 55 Hz 1.5 mm /

139
103.5
10 .. 2 000 Hz 5 g
54.5±0.1
62.5
14 mm hollow shaft
7
13
10
13 Snap-on brake optional (holding torque = nominal torque)

ø14h8
Characteristic curve Maximum axial force 20 N
rpm
min
-1
for PSW 31_/33_-14 Maximum radial force 40 N

250

200 Storage temperature - 10 .. 70 ° C
PSW 311-14
150
PSW 332-14
Material stainless steel

100
PSW 312-14
Weight 700 g
50
PSW 335-14 For details of the connections Certificates CE, optional: NRTL (UL, CSA, ANSI)
instruction manual.
1)
0 5 10
Nm
35
PSW 3210 / 3218-14

torque torque speed hollow shaft
ø 14H7 / 20 depth
PSW 3210-14 10 Nm 5 Nm 24 rpm
13 71 56
PSW 3218-14 18 Nm 9 Nm 14 rpm
25
Data interfaces
cover, manual
CANopen, PROFIBUS DP, DeviceNet, Modbus RTU, Sercos, adjustment
EtherCAT, PROFINET, EtherNet / IP, POWERLINK, IO-Link beneath
113.5
150
at nominal torque
70
galvanically separated between 6

35

Positioning accuracy 0.9 ° torque viewing window and access to
absolute measurement of position taken support address switch and status display

not subject to mechanical limits 51
ø42
25
5


11
21

10 .. 2 000 Hz 5 g
Output shaft 14 mm hollow shaft 14 26 7
Ambient temperature 0 .. 45 ° C Characteristic curve
rpm
min-1 for PSW 3210-14 / 3218-14
Storage temperature - 10 .. 70 ° C 40

rotation (tested with water) 1) 30
Material stainless steel PSW 3210-14
Weight 1350 g 20
PSW 3218-14
1)
welded V2A housing, output shaft sealed with quad-ring For details of the connections
The order key and accessories can be found on p. 18 / 19. instruction manual.
0 10 20
Nm
36
Positioning
systems
2 Series
PSE 21_ / 23_ - 8
PSE 21_ / 23_-8
Power consumption 0.1 A
(motor control unit)
measurement of position taken directly at
the output shaft
Positioning range
quasi absolute measurement system: unlimited
absolute measurement system: 64 rotations


10 .. 2 000 Hz 5 g
8 mm hollow shaft
Connections electrical connections PSE 21_ / 23_-8 with hollow shaft
via terminal bar (max. 1.5 mm 2)
6 2x cable glands PG9
ø 6h9
23±0.1
ø 36
56
Weight 500 g 143
15 56
Certificates CE
hollow shaft ø 8H9 / 20 depth
Nominal torque Nominal rated speed A PSE 21_ / 23_-8 with solid shaft
1 Nm 40 rpm 211-8 3 76
2 Nm 20 rpm 212-8 2x cable glands PG9 68±0.1
1 Nm 80 rpm 231-8 10
48±0.1
ø 8h8
56
2 Nm 40 rpm 232-8
15
Data interfaces B
143
CANopen CA
.5
4x
ø 4
DeviceNet DN
Modbus RTU MB Characteristic curve
rpm
min
-1
for PSE 21_/23_-8
100
Address switches / baud rate switches C

PSE 231-8
without address / baud rate switches 1) O 80
with address / baud rate switches

A 60
adjustable baud rate, 500 kBaud, 250 kBaud, 125 kBaud
1)
only for CANopen / DeviceNET 40
PSE 211-8 PSE 232-8 The cable gland can be moved into
different positions by turning the
cover by 90 °.
Output shaft D 20
PSE 212-8
8 mm solid shaft W For details of the connections
8 mm hollow shaft with adjustable collar H 0 2 4 instruction manual.
Nm
Measurement system E Functional block diagram PSE 21_/23_-8

quasi absolute measurement system 0 24 VDC
motor
absolute measurement system, 64 rotations 1 0 V control
(final stage)
application
gearbox
control
motor
24 VDC output
Order control
A B C D E
code target value
via databus
PSE – – – – – interface
position
measurement
actual value system
38
HIPERDRIVE
positioning
systems
HDA 70
HDA Hub
HIPERDRIVE positioning systems
The HIPERDRIVE series facilates both direct wiring and indirect wiring via a Hub (see p. 8 + 9)
field bus
field bus
control control
hub
positioning positioning
systems systems
A direct wiring (adapter)  see p. 41 B indirect wiring via Hub  see p. 42
Accessories for HIPERDRIVE HDA 70

HDA 70 with bus communication (Industrial Ethernet 1) and PROFIBUS DP)
Bus cable for Industrial Ethernet Power supply cable

with an M12 connector (D-cod.) with a 7 / 8”connector socket
10 m: Order no. 9508.0045 10 m: Order no. 9508.0043

20 m: Order no. 9508.0046 20 m: Order no. 9508.0044
Connector set for EtherCAT,

PROFINET, EtherNet / IP:
7 / 8” power supply connector +
2 x databus connector
Order no. 9508.0050

A
Bus cable for PROFIBUS DP Connector for PROFIBUS DP
with an M12 connector socket M12 connector socket (B-cod.)
(B-cod.)
Order no. 9508.0027
10 m: Order no. 9508.0011
25 m: Order no. 9508.0017
Connector set for PROFIBUS DP: Connector for PROFIBUS DP
7 / 8” power supply connector + M12 connector (B-cod.)
databus connector and socket Order no. 9508.0012
with terminating resistors:
Order no. 9508.0034 Order no. 9508.0013
HDA 70 with RS 485 (for indirect cabling via Hub)
Simple flange adapter with cable: Connecting cable (with crimp cont-
acts at one end) without adapter
1 m: Order no. 9508.0038
2 m: Order no. 9508.0033 2.5 m: Order no. 9508.0030
B 5 m: Order no. 9508.0019
10 m: Order no. 9508.0010 Adapter without cable
15 m: Order no. 9508.0008
Order no. 9508.0009
1)
EtherCAT, PROFINET, EtherNet / IP
40
HIPERDRIVE HDA 70
for direct wiring (with adapter)

Positioning accuracy ± 1 °
Positioning range 32 000 rotations

Vibration resistance 10 .. 150 Hz 10 g

Insulation class B (120 °)

Maximum axial force axial shaft: 150 N
radial shaft: 165 N
Maximum radial force axial shaft: 200 N
radial shaft: 440 N
Ambient temperature max. 45 ° C
HDA 70 with adapter Weight axial 2.8 kg / radial 3.2 kg
cable gland or
(axial, without bevel gear) 7/8”connector
for supply voltage Certificates CE
approx. 175 2x cable glands or
2x connector for bus
approx. 135 Product Nominal Self-holding Nominal rated
18.5±0.5
2.5 torque torque speed
1.2 HDA 70 15 Nm 25 Nm 27 rpm
approx.105
12-0.1
3-0.025
11.2-0.1
53±0.1
ø 60j6
Data interfaces A
72
ø 10f6
ø 7
5+
PROFIBUS DP DP
0.
1
7.5 53±0.1 EtherCAT EC

R1
approx. 151
0
72
PROFINET PN
HDA 70 with adapter (radial, with bevel gear, i = 1) EtherNet / IP EI

cable gland or RS 485 1)
I
7/8”connector 2x cable glands or
for supply voltage 2x connector for bus
approx. 135
1)
for control via HUB
94.5
4x ø 9.5 Shaft position B
4x ø 5.4
axial, without bevel gear L
approx. 105
radial, with bevel gear i = 1, position type 1 1

4x 204x ø5.2
76.5
60.5

2.5
4x M8
4.5
12-0.1 11.2 radial, with bevel gear i = 1, position type 4 4

approx. 226 3-0.025 -0.1
1.2
ø10f6
18.5±0.5
ø 60j6 Connections C
2x cable glands M16 for bus cable
53±0.1
Cable gland (for DP) B
Connector, 6-pin (RS 485 without Hub) E
Connector, 6-pin (RS 485 with Hub) H
53±0.1
65
72
Cable gland for 24 V DC, S

2 x M12 female connector for IE-bus in / out
approx. 262
Male connector (7 / 8 “) for 24 V DC, T
2 x M12 female connector for IE-bus in / out
cable glands M20 for power supply For details of the connections
instruction manual. Output shaft design D
10 mm solid shaft with feather key (radial / axial) S
10 mm hollow shaft (only radial, with bevel gear) H10
12 mm hollow shaft (only radial, with bevel gear) H12
Order
A B C D
code
Pos. type 2 Pos. type 3 Pos. type 4 HDA 70 – – – –
Pos. type 1
41
HIPERDRIVE HDA 70
for wiring via HUB

Power consumption (control unit) 300 mA
Vibration resistance 10 .. 500 Hz 10 mm

Certificates CE
Motor connection cables, 6 x adjustable collar max. cross-
operating voltage for data X-D1 .. 8 section of conductor 1.5 mm 2
Operating voltage connection, cable lug M6 HDA 70 (axial, without bevel gear)
motors X-A+, X-A-, cable adapter
equipotential bonding 32.3
18.5±0.5 approx. 63.5 SW17
Bus terminating resistor via external terminal resistance 2.5
12
1.2 -0.1
Bus connection M12, 5-pin Type B (PROFIBUS DP) 2x
approx. 96
M12, 5-pin Type D 3-0.025
53±0.1
(Ethernet-based buses) 2x
ø 60j6
ø10f6
72
11.2-0.1
75
Address range adjustable 0 .. 125
±0
.1
via switches (0 .. 99 for Ethernet-based buses)
7.5
R1
Housing die-cast zinc approx. 151 4x 5,3+0.1
0
53±0.1
M3 72
65
Protection class with IEC 60529 IP 65
41
Weight 4.5 kg 18.5
76
63 HDA 70 (radial, with bevel gear, i = 1)
46 9.5
23 cable
4x ø 9.5 approx. 63.5 32.3
adapter
4x ø 5.4+0.1
79
64.8
94.2±0.5
53
43.8
33.8
42
4x 20 4x 5.2
14
76.5
22
60.5
100
X-D 1 .. 8 X-A+ 52
275 2.5
262 approx. 151
67.5 4x M8
18.5±0.5
12-0.1
Hexalobular screw T11
3-0.025 11.2 -0.1
1.2
72 ø10f6
35.7
24
1 2 3 4 approx. 202
ø 60j6
approx. 238
87±0.3
1 2 3 4
53±0.1
SW17
5 6 7 8
72
X-B3 4x ø 5.5
41
37 X-B2
SW17 X-B1
46 46 46
53±0.1 18.5
M3
Data interfaces 1) A
For details of the connections please see
PROFIBUS DP DP also p. 47 and the instruction manual.
EtherCAT EC
Shaft position
PROFINET PN axial radial radial radial radial
EtherNet / IP EI
1)
via RS 485 between HUB and HDA
Order
A
code Pos. type 2 Pos. type 3 Pos. type 4
Hub – Pos. type 1
42
Analogue
Positioning
systems
PSE 100 / 200
PSE 272
PSE 100 / 200
Nominal current PSE 100: 0.2 A
PSE 200: 1 A
No-load current 0.2 A
Positioning resolution 0.5 % of positioning range
Positioning accuracy 2 % of positioning range
Positioning range PSE 100: max. 20 rotations
PSE 200: max. 50 rotations
Vibration resistance 10..55 Hz 1.5 mm /

in accordance with IEC / DIN EN 60068-2-6 55..1 000 Hz 10 g /
10..2 000 Hz 5 g
Output shaft 12 mm solid shaft (with flattening)
Storage temperature -10 .. 70 ° C
Weight 900 g
ø 18h8
Certificates CE ø 12h8
Product Nominal torque Nominal rated

A
30
ø 12
0.5
speed
4
PSE 100 2.5 Nm 2 rpm 100 / 1
5 Nm 1 rpm 100 / 2
58
10 Nm 0.5 rpm 100 / 3
100
10 Nm 0.25 rpm 100 / 4
PSE 200 1 Nm 30 rpm 200 / 1
5 Nm 5 rpm 200 / 2
10 Nm 2 rpm 200 / 3
120
10 Nm 1 rpm 200 / 4
10 Nm 0.5 rpm 200 / 5 2xPG9
10 Nm 0.25 rpm 200 / 6 right 3xM8
rechts 12 depth
120°
80
Default analog target value B
left
links
0 .. 10 V DC (RL > 2 kΩ) A
0 .. 20 mA (RL < 500 Ω) B
4 .. 20 mA (RL < 500 Ω) C 40 35
50
Supply voltage C
PSE 200 24 V DC (+ 20 / - 15 %) A Functional block diagram PSE 100
position reached
PSE 100 24 V AC (+ 6 / - 15 % 50 Hz) B
... V AC
115 V AC (+ 6 / - 15 % 50 Hz) C general power supply
controller unit
application
230 V AC (+ 6 / - 15 % 50 Hz) D

gearbox
motor
target value output

e.g. 0 .. 10 V DC
Positioning range D
0 .. 360 ° ___ ° release
actual value
max. 50 (PSE 200) / 20 rotations (PSE 100) __ U
actual value
e.g. 0 .. 10 V DC
Output signal Rotational direction F
E Functional block diagram PSE 200
actual value
left li
0 .. 10 V A 24 V DC
right re general power supply
0 .. 20 mA B
controller unit
application
gearbox
motor
4 .. 20 mA C target value output

e.g. 0 .. 10 V DC
Order
A B C D E F
code 24 V DC
release actual value
PSE – – – – – –
actual value
e.g. 0 .. 10 V DC
44
PSE 272
Duty cycle 100 %
Supply voltage 24 V DC (+ 20 / - 15 %)
No-load current 0.2 A
Positioning resolution 0.5 % of positioning range
Positioning accuracy 2 % of positioning range
Positioning range max. 15 rotations

10 .. 2 000 Hz 5 g
Output shaft 8 mm solid shaft
Storage temperature -10 .. 70 ° C
Weight 800 g
ø 8h8
7.2
Certificates CE
15 Nominal torque Nominal rated speed A

20
1 Nm 60 rpm 272 / 1
2 Nm 30 rpm 272 / 2
3 5 4 Nm 15 rpm 272 / 3
120 5 Nm 7.5 rpm 272 / 4
Default analog target value B

0 .. 10 V DC (R L > 2 kΩ) A
63±0.1
13
0 .. 20 mA (R L < 500 Ω) B
72
4 .. 20 mA (R L < 500 Ω) C
4x4.5
81
Positioning range 1) C
63±0.1
max. 15 rotations
72
1)
Value in rotations, max. 15 possible. For < 1 rotation, conversion of the
angle. Example: 270 ° = 0.75 rotations.

Order
A B C
code
Functional block diagram PSE 272
PSE 272 – – –
24 V DC
general power supply
Accessories
controller unit
application
gearbox
Mating connector Order no. 9601.0048

motor
target value output

(A-encoded socket and one B-encoded socket, 4-pole)
e.g. 0 .. 10 V DC
Blockschaltbild actual value
45
Focus y
our thinking on ndustry 4.0
Advanced production: Industry 4.0
Highly flexible and smooth design of all produc-
tion processes – that is a key point of the INTERNET OF THINGS
Industry 4.0 concept. Networking production
participants with each other is one aspect
of this: machines, equipment, tools,
storage systems and also the resulting
products.
The term Internet of Things describes
networking via information technology. A SMART FACTORY
networked factory is called a smart fac- Ergonomics
tory. The things involved in smart factory Integration (upstream /downstream processes)
production are not just physical. They are Resource efficiency
Adaptability/ customization
reflected in the Internet of Things. The reflec-
tion is called a virtual image and is stored
MACHINES WITH CYBER-PHYSICAL SYSTEMS
there with a lot of data. If something involved in
production is represented by a virtual image and Minimum setup times
networked with others, it is called a cyber-physical Maximum availability
system. It interacts with other systems.
CYBER-PHYSICAL SYSTEMS
Positioning systems as cyber-physical systems
Sensor /actuator integration
Networked embedded systems
Our positioning systems have all the components to Self-optimizing, self-diagnosing, self-configuring
constitute a self-contained cyber-physical system:
• Actuators on the drive: gearbox, motor, motor
control there are blockages caused by obstacles.
• Absolute encoders: positioning sensor The system positions optimally and independently, and
only puts a minimal load on the machine control. Be-
• Embedded system: decentralised on-board intelligence cause the control unit only gives the drive command.
The positioning system moves independently to target Positioning systems assist with factory automation for
positions and reacts to deviations. It differentiates the purpose of Industry 4.0: They are optimally integrat-
between contamination or blockage of its axis and acts: ed into flexible machine processes and offer monitoring
accelerating if the spindle is contaminated and braking if functions.
Watch our films as well

A number of short films are available on our website. These give you a quick
overview and also a few insights into some of the most important details.
www.halstrup-walcher.com
 Navigation: ”Applications“
 ”Positioning systems“
Find films on the following topics:

yy Mechanical engineering approaches to automation (under “Machine concepts with format changeover”)
yy Advantages of automated format changeover from the viewpoint of the machinery user e.g. in
furniture manufacturing (under “Format changeover – wood-processing”)
yy Automation in bottle filling: Precision, preventive maintenance and bus communication flexibility
(under “Format changeover – bottling plants “)
46
Overview: bus communication
max. Bus length Description
Bus Topology Terminating resistance Connection 1) Jog keys Addressing
number @ Baud rate … of device 2)
PSE 2_
CANopen 3) 126 2 x 120 Ω

spring clamp terminals 250 kBaud: 250 m
series not integrated in the device / EDS
DeviceNet 63 (motor power supply (M) 500 kBaud: 100 m
(all slaves attach to cable ends via switch
+ control power supply (S) without
connected in 2 x 390 Ω + 1 x 220 Ω and bus
Modbus + data (D)) 9 600 Baud: 500 m
parallel) 247 integrated in the device, -
RTU M12 (M + S) and M12 (D) possible 38 400 Baud: 50 m
activation possible
PSE / PSS / PSW 30_, 31_, 32_, 33_
M12 - A (M + S), 2 x M12 - B (D)

2 x 120 Ω optional: Sub - D9 (D),
CANopen 3) 126 via switch 250 kBaud: 250 m
not integrated in the device / Sub - D9 (M + S), EDS
M12 - B (M + S), 2 x M12 - A (D) 5) and bus 500 kBaud: 100 m
attach to cable ends
DeviceNet series 63 M12 - B (M), 2 x M12 - A (S + D) 5)
(all slaves M8
connected in 2 x 390 Ω + 1 x 220 Ω connector 6)
PROFIBUS 32 M12 - A (M + S), 2 x M12 - B (D) via switch 1.5 MBaud: 200 m
parallel) integrated in the device, GSD
DP 126 (R) 4) optional: Sub - D9 (D) 5) (and bus) 12 MBaud: 100 m
activation possible
2 x 390 Ω + 1 x 220 Ω
Modbus M12 - A (M + S), via switch 9 600 Baud: 500 m
247 integrated in the device, -
RTU 2 x M12 - B (D) 5) and bus 38 400 Baud: 50 m
activation possible
star via hub limited by

IO-Link (peer the bus M12 - A (M + S + D) without not required 38 400 Baud: 20 m IOOD
to peer) master
Sercos 511 SDDML
EtherCAT 65 535 not required ESI

series, ring
PROFINET or star via limited M12 - A (M + S), 2 x M12 - D (D) M8 via switch GSDML
100 MBaud: 100 m
hub (peer to by PLC or M12-Y (M + S + D) connector 6) and bus
EtherNet / IP peer) EDS
POWER-
239 XDD
LINK
PSE 34_
2 x 120 Ω
HAN4A (M + S), 2 x M12 - B (D), via switch 250 kBaud: 250 m
CANopen 3) 126 not integrated in the device / without EDS
series optional: 2 x M12 - A (D) and bus 500 kBaud: 100 m
attach to cable ends
(all slaves
parallel) 2 x 390 Ω + 1 x 220 Ω
PROFIBUS 32 M8 via switch 1.5 MBaud: 200 m
integrated in the device, HAN4A (M + S), 2 x M12 - B (D) GSD
DP 126 (R) 4) connector (and bus) 12 MBaud: 100 m
activation possible
star via hub limited by

IO-Link (peer the bus without not required 38 400 Baud: 20 m IOOD
to peer) master
Sercos 511 SDDML
EtherCAT 65 535 not required HAN4A (M + S), 2 x M12 - D (D) ESI

series, ring
PROFINET limited M8 via switch GSDML
(peer to 100 MBaud: 100 m
by PLC connector and bus
EtherNet / IP peer) EDS
POWER-
239 XDD
LINK
HIPERDRIVE HDA 70
series 2 x 390 Ω + 1 x 220 Ω Screw collars (M + S + D),

PROFIBUS 32 1.5 MBaud: 200 m
(all slaves integrated in the device, Screw collars (M + S), 2 x M12 - B (D), via switch GSD
DP 126 (R) 4) 12 MBaud: 100 m
parallel) activation possible 7 / 8‘‘ (M + S), 2 x M12 - B (D)
EtherCAT 65 535 ESI

series, ring screw collars
on the via switch
PROFINET (peer to limited not required or 7 / 8‘‘ connectors (M + S), 100 MBaud: 100 m GSDML
exterior of and bus
peer) by PLC 2 x M12 - D (D)
EtherNet / IP the device EDS
2 x 1 kΩ + 1 x 130 Ω
only
not integrated in the device / attach 9 600 Baud: 500 m
RS 485 series 254 Molex series 5557 / 69 (M + S + D) possible -
to cable ends / optionally available 38 400 Baud: 50 m
via bus
in the device
HIPERDRIVE Hub
series 2 x 390 Ω + 1 x 220 Ω

PROFIBUS 32 cable lug (motor power supply), can be 1.5 MBaud: 200 m
(all slaves not integrated in the device / via switch GSD
DP 126 (R) 4) M12 - A (S), 2 x M12 - B (D) accessed 12 MBaud: 100 m
parallel) attach to cable ends
after
EtherCAT 65 535 opening ESI
series, ring the
cable lug (motor power supply), via switch
PROFINET (peer to limited not required housing 100 MBaud: 100 m GSDML
M12 - A (S), 2 x M12 - D (D) and bus
peer) by PLC cover
EtherNet / IP EDS
1)
M (motor power supply), S (control power supply), D (data)
2)
description files available to download at www.halstrup-walcher.de/en/software
3)
other plug coding possible on request
3)
with repeater (R)
4)
as connector solution / plug-in solution M12-Y (M+S+D) on request
5)
not for PSW or IO-Link
47
halstrup-walcher GmbH
Stegener Str. 10
79199 Kirchzarten
Germany
Tel. + 49 (0) 76 61 39 63-0

Fax + 49 (0) 76 61 39 63-99
info@halstrup-walcher.de
www.halstrup-walcher.com
Austria / Hungary /
Poland / Slowenia
Kwapil & Co. GmbH
Kammelweg 9
1210 Wien
Austria
Tel. + 43 1 278 85 85
Fax + 43 1 278 85 86
verkauf@kwapil.com
www.kwapil.com
China
Shanghai Yu Ting
Scientific Co., LTD
Room 602, No. 45,Lane 1661 Italy Taiwan
Jialour Rd., JiaDing District, halstrup-walcher S.r.l. Chih Horng Scientific Co., Ltd.
Shanghai City. PRC Viale Colleoni, 15 Slowakia / Czech Republic 6F., No.69-5, Sec. 2,
Tel. + 86 21 6915 3366 (Palazzo Orione, 2) Kwapil & Co. GmbH Zhongzheng E. Rd.,
Fax + 86 21 6915 3939 20864 - Agrate Brianza (MB) Hlavní 1054/131 Tamsui Dist.,
ch-sys@ch-sys.net Tel. + 39 039 9630 880 624 00 Brno New Taipei City 251
www.ch-sys.net Fax + 39 039 9630 883 Czech Republic Tel. + 886 2 2808 0169
info@halstrup-walcher.it Tel. + 420 541 211 538 Fax + 886 2 2808 0176
Great Britain / Ireland www.halstrup-walcher.it Fax + 420 541 217 467 chih.mail@msa.hinet.net
HMK LTD sales@kwapil.com www.ch-sys.com
Automation and Drives Korea www.kwapil.cz
Congleton, Cheshire ALF Motion Control Turkey
CW12 1QJ 319 / 33, Industrial goods Spain CAGDAS Automation
England Distribution center, INTRA AUTOMATION S. L. & Engineering Co. Ltd.
Tel. + 44 12 60 27 9411 30, 37th Str, PT.Paterna, R. de Auguste I Kizilay cad. 28006 sok No: 5
Fax + 44 1260 2810 22 Bangchuk-Ro, Dong-Gu, Louis Lumiere, n° 45, Nave 3 01010 Seyhan / Adana
enquiries@hmkdirect.com Incheon, 22530 46980 Paterna, Valencia Tel. + 90 322 359 81 85
www.hmkdirect.com Tel. + 82 32 213 0093 Tel. + 34 963 961 008 Fax + 90 322 359 36 39
Fax + 82 32 232 1753 Fax + 34 963 961 018 cagdas@cagdasltd.com.tr
India alfmotioncontrol@gmail.com info@intraautomationsl.com www.cagdasltd.com.tr
Parshvi Technology www.alfmotioncontrol.com www.intraautomationsl.com
Shop No: 303-304 USA
3rd floor Netherlands Switzerland Intelligent Measurement Solutions LLC
Pushp Business Campus, Elmekanic B.V. Trelco AG 3635 Dawes
S P Ring Road, Vastral Spelleweg 3 Gewerbestrasse 10 49508 Grand Rapids, MI
AHMEDABAD 382418 7475 GV Markelo 5037 Muhen Tel. +1 616 608 79 19
GUJARAT Tel. + 31 547 367 357 Tel. + 41 62 737 62 62 Mobile +1 734 6371596
Tel. + 91 7069 0042 27 Fax + 31 547 367 356 Fax + 41 62 737 62 70 Fax +1 616 608 79 54
info@parshvitechnology.com info@elmekanic.nl trelco@trelco.ch darrell@i-m-solutions.net
www.parshvitechnology.com www.elmekanic.nl www.trelco.ch www.h-wusa.com
Positioning system catalogue – Date: 08 / 2019 – 7150.000404 – Subject to technical changes without notice

Positioning Systems Catalogue ENG Web PDF

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Positioning systems

Automatic format adjustment in machines –

halstrup-walcher: Specialists in 4 sectors

Methods Customer's benefit

Desired batch sizes

Short delivery times

Overview of positioning systems p. 5

Changing format with positioning systems p. 6

IP protection classes and bus communication p. 7

Find the right positioning system p. 10

The right brake p. 11

Positioning system 2 series p. 38

HIPERDRIVE positioning systems p. 39

Analogue positioning systems p. 44

analog set value:

Motor EC-motor EC-motor DC-motor EC-motor AC- / DC-motor

Nominal torque 1 .. 25 Nm 1 .. 18 Nm 10 / 18 Nm 1/ 2 Nm 15 Nm 1 .. 10 Nm 0.75 .. 5 Nm

Self-holding torque 0.5 .. 12.5 Nm 4) 0.5 .. 9 Nm 5 .. 9 Nm 4) - 25 Nm - -

short gap to short gap to

packaging machines filling plants machine tools / woodworking

Take advantage of the 3 benefits of automation

2 Increased quality: A defined format is always adjusted the same way –

production 1 major delay to start of immediate adjustment

Gain time and avoid errors with automated format changeovers

Flexibility in IP protection classes

PSE / PSS / PSW PSE 3 series PSS 3 series PSW 3 series

HIPERDRIVE - - HDA 70, Hub p. 41 - 42 - -

Positioning system page

Connection to control unit

Positioning systems PSE/PSS/PSW

Advantages compared to indirect wiring: VDC

•  ave on installation space and take advantage

With indirect wiring, the positioning systems are

Advantages compared to direct wiring:

• Machine looks tidy: nearby components are bundled hub /

Indirect wiring of positioning system 3 series

Positioning systems in the 3 series connect you to the

rpm CAN, DeviceNet or Modbus on board

Calculate the torque positioning system

(relevant for vertical positioning)

T = 1.1 for ball screw spindle spindle guide rail

Example: mass m: 50 kg, spindle pitch s: 4 mm, T: trapezoidal threaded spindle

Selection of the appropriate brake positioning system

When objects have to be positioned vertically (i.e. moved

Please note the following situations and solutions:

Requirement Solution Technical description

M12 connectors (male and female)

circuit boards for motor control,

manual disconnecting level1)

1 machine concept – in 3 IP protection classes and with 10 buses

different bus communication options different protection classes

Absolute measurement system

Measured by the halstrup-walcher combination encoder on the basis of:

POSITIONING ACCURACY STAY SAFE EVEN WHEN

In practice, there is also an error contribution associated output

... ... databus bus

EC-MOTOR Status LED

Fast set-up ADDRESS SWITCHES 1)

integrated address switches

JOG KEY OPERATION 2) Manual adjustment 4)

e.g. jog key box

Limiting TORQUE generator operation

THE DIFFERENCE BETWEEN OBSTACLES AND DIRT

• ave on installation space and take advantage