7032s, 17:40, ‘manual viewer a Bulletin HY11-AL287-M1/UK Installation Manual Series VRD350, VRD355, ABG35S Digital Power Amplifier Parker Hannifin GmbH & Co. KG Hydraulic Controls Division Gutenbergstr. 38 41564 Kaarst, Germany Tel: +49-181 99 44 430 Fax: +49-2181-518-230 E-mail: infohod @ parker.com Copyright @ 2003, Parker Hannifin GmbH & Co. KG ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-vrd350-seriesnstallation-manval as7032s, 17:40, ‘manual viewer Digital Power Amplifier Installation Manual Series VRD350 and VRD355 Note This document and otherinformation from Parker Hannifin GmbH, its subsidiaries, sales offices and authorized distributors provide product or system options forfurther investigation by users having technical expertise. Before you select or use any product orsystem it is important that you analyse all aspects of your application and review the information concerning the product or system in the current product catalogue. Due to the variety of operating conditions and applications for these products or systems, the user, through his own analysis and testing, is solely responsible for making the final selection of the products and systems and assuring that all performance and safety requirements of the application are met. The products are subject to change by Parker Hannifin GmbH at any time without notice. AVRO UK:NOD RH 0206 2 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-vrd350-seriesnstallation-manval as,7032s, 17:40, ‘manual viewer Digital Power Amplifier Installation Manual Series VRD350 and VRD355 Content Page 1. Description and Design 4 1.4. Technical Data 5 1.2. Ordering Code 6 1.3. Connection 7 1.4. Block Diagrams 9 2. Commissioning 12 2.1. Front Panels 12 2.2. Programming 13 2.3. Signal Diagrams 15 2.4, Diagnosis 20 2.5. Parameters 20 3. Function 24 3.1. Command signals 24 3.2. Ramp Function Generators 24 3.3. Offset 25 3.4. Valve Curve Linearisation 25 3.5. Adjustment of Current Gain 25 36. Dither 25 3.7. Current Controller 25 3.8. Output Stages 25 8.9. Step Functions 26 3.10. Control Circuits 26 3.11. Zero Point Adjustment 26 3.12. Controller Parameter 27 3.18. Programmable Comparator Function 31 3.14. Serial Interface 32 3.15. ABG35S 32 4, Operating and Error Messages 33 4.1. Enable 33 4.2. Reset Ramp 33 4.3. Malfunction and Error Messages 33 4.4. Comparator Output 34 45. Externally selected command signals and directions 34 5. Wiring Diagram of Rear Connector 34 6. Parameter List 35 7.Wiring Diagrams 37 |AVRO UKINOD RH 02.06 3 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-vrd350-seriesnstallation-manval 1457032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 1. Description and Design Applications (general) Amplifier card for driving proportional directional valves, pressure and flow control valves. Suitable for solenoid systems up to 3.5 A. Valves with spool position feedback, and external closed loop control circuits (e.g. pressure regulating circuits) can be implemented with the closed loop control options. Suitable for use on NC axes, especially where the requirements for dynamic response and accuracy are high. Special Application of VRD355 Amplifier card without the front panel display and operating elements for cost effective applications where operation is via a serial interface or ABG3SS (must be ordered separately, No. 23.501 456). The VRD350 / VRD355 Series is distinguished by the following Features: + PWM output stage with programmable current controller. + Adjustable parameters for all solenoid types up to3.5A + Digital setting and display of all parameters. + High set value and feedback resolution (<0.05%). + No temperature or long-term drift. + Precisely reproducible settings * Serial interface on the front panel for remote parameter setting ‘+ Simple operation by 4 entry keys and 3-digit LED display. + Fault indication by numeric code + Variable dither amplitude and frequency. + Gain for solenoids A and B can be set indepen- dantly + Different valve characteristics are stored ‘on-board to enable linearisation. + Set value simulation for simplified commission- ing. + Only a unipolar supply voltage is necessary (24), + Internally adjustable time delay of output stages after applying the enable signal + Integrated actual value recording, Robust, SMT technology. AVRO UK:NOD RH 0206 * Differential amplifier input for NC command signal 0...210V, + Additional input for command signal specifica- tion by 0...210V. + Integrated power supply for +10V symmetrical to OV supply, each capable of carrying 10mA. + 4 recallable command signals. irection externally sot. + Enable signal for output stages. + Reset-Ramp for quick reset of ramp function. + Allexternal input signals for command signals, direction, enable, reset ramp are electrically isolated by opto-couplers. + Status outputs “Error” and "Comparator" are similarly electrically isolated by opto-couplers. + Function indication by LEDs on front panel. * In addition, for simpler commissioning and for service purposes, test sockets are located on the front panel for S6 (NC-command signal), ‘A (feedback value, where available), |, and |, (Measurement instruments R, >100ks Meaning of Symbols J\ ‘Warning, danger for user. ‘Attention, possible damage to unit or other capital assets, Note, information, key function. Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 41087032s, 17:40, Digital Power Amplifier Installation Manual Series VRD350 and VRD355 1.1. Technical Data (General Design Europa format [Eetrear [Supply votiage i lie.20. fone <5 [Curent consumption ial[o [Power consumption @24¥) TVal|s0 Presse [Al [3.16 quick acting inputs [Analogue Foodback valve V1 |o22, 600m: Feedback vale {Vi 75 22, okOhm Feedback vale [WV] 0.10, > 10¥Ohe Feedback vale (v1 fo.10. > 10MOH Feedback vale Trad 0.20, 100kOhm Feedback vale [ml] 4.-20.100KOnm [Command valve S15 (V1 ou10, > 1500 [Dgtalo Wwiloact 1 Wwils..20 [Outputs x. cupoiy wotage Vj |24210%, apple x erence [V1 +0, -10, 10m, [Analogue {Vi fo..10, sma, Dgtal imal 50 Sonos Wllos7a7755 intetaces Serial SZC [Agjustment range in Tl ]o.100, Max {10.100 Ramp ire is}]o-205 [ith Ampitods Tl]0.20 Frequency Tz |o..647, nsteps [Zero point fal) 30. +30 Protection cass industri protection lass iP [Environment conetions| Temperature Toi lo..50 [Connection Plug connector DIN 47612, d@pin design ype F [Cate dmensions "AWG [15 (power supply + solenoid) 20 al oe) [cape long [rm] |max 50 [Dimensions Front panel Tr] [50.5 x 128-4, TOTESHE [Ponce eveui boar nm 100 160 EMC EN 5008-2 EN s0011 EN 50082.2 EN 6100042 EN 610004-8 EN 610004-4 {AVRO UND RH 0206 5 Parker Hannifin GmbH & Go. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 51457032s, 17:40, Digital Power Amplifier Installation Manual Series VRD350 and VRD355 1.2. Ordering Code VRD = = T T I I I I Digital Module. -—Type_—‘SolenoldSolenola Function Sensor Exteral_—_—Design “Ampiifir for Type Sensor ‘Assignment Closed Series Proportional Leop Valves | Cae] —_woaie ‘ais | Ei dosed ap" ‘wih fon pala 0 | wihout oso |e / and ope o | onst0v witout nt it i| = rating oloments| ‘Type and ope- 2355 | display / and ope- Code] Tipe 0 | contoied 1 | regulates Gada] Solenoid ype ‘08a 27a 358 278 Coss | SRROT sensor Thevalies for actual valve signals apply to directo pal vanes, (Goa Sensor asgrment 0° | contolles 18 | Flow valvas NOS 2 | Diecioral aes Noe 2 | Decora vai G10 4 | dies! aes Hoi6| & | Dieta ves Ne2s © | Drectinal ives om 7 | pL-contral ree 70 | ®*t.closed loop _ded solenoid) (OC valves) an |e. ctos0d op oreseow vas] a» | Dectonal vane ie Dats Flange sla “Toa Todback or ao o | eee eae 2 tn feedback on va eo) Cental ended ‘elena or _ 1 | position indicator bon. with 7.5V null controlled vote) | rogulaied Assignment Table Proportional BC Valves “pio card or valves ‘witout poaiion | with postion | wo poe tanaducer Tyre Resecbiien | Solenolt | Sie tansducor transducer with ext. closed loop. DaeW | L| 0.22} —Vabas 020-05 = VADSS- 130-87" pis | | 10.25 — vvaoas-10050 = povanes | RL | to |e | vapssrortoo | vabasri7tneo | vRDaseiri.Are wt | coe | © | vanas-oor20 | vanas-1o1A20 | vRDos-11-A7" wi | — | 10 | vapastoso00 | vapastseneo | _vnpassoA7* a vB a eT = VADSS- Hoe ressue | py = | eo | vabastore00 = vnbes110 Ret vay | =| e210] vaas-o10.00 — vapss110.83" iow vanes | DUR {eT vabss 010.09 | vaesaiema | —vnbaser0n {AVRO Ux.NOO FH 02.06 6 Parker Hannifin GmbH & Co. KG npsilmanvalzz.comidaci62869089iparker- Hydraulic Controls Division bg86s-series-wrd350-seros-nstallation-manval eas,7032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 1.3. Connection ‘Connect unit in accordance with terminal connec- tion diagram on page 9. The supply voltage for the unit at terminals 26bd = OV and 32bd = + U, is 18V to 30VDC, residual ripple < 10%. Output stages are electronically protected against short circuit and excess current. The amy should be protected with a quick-acting preliminary fuse (see technical data). Connection of solenoids is made at teminals 22bdz and 28bd2 for solenoid A, terminals 24bdz and 30bdz for solenoid B. Ter- minals bdz are bridged on the amplifier. Connection should, however, be made to all three terminals on ‘account of the current carrying capacity. Ino electrical isolation of the logic inputs or outputs is required, terminal 26bd must be bridged to ten nal 2d and terminal 322 to terminal 32bd, The assembly contains electronic components. Incorrect handling or operation can lead to damage through electrostatic discharge (ESD). Only trained personnel should work with the unit. All safety instructions must be observed. If the card is disconnected whilst the power supply is still dam- lage may result. Avoid such actions at all cost. General Devices from the VRD350/VRD355 series are class ‘A equipment and thus only suitable for industrial surroundings. The distance between a source of interference (device emitting interference) and an interference sink (a device under the influence of interference) is of decisive importance. The interfering field of the source reduces the greater the distance between this and the sink. In other words, the closer a device is placed to a source of interference, the greater the incidental amplitudes. For this reason, there should be a minimum gap of 0.25 m between the amplifiers, and strong sources of interference. |AVRO UKINOD RH 02.06 The following devices are to be regarded as strong sources of interference: * Switching power supply units + Frequency converters + Drive modules + Mains filters with wiring (even if screened) * AC/DC commutator motors ‘+ Motor cables (even if screened) + Switched inductances, even when anti-inter- ference measures have been taken (solenoid valves, contactors, relays, brakes, etc.) (One of the most common input points is the wiring. This influence can be minimised. Interfering cables should therefore be laid at least 0.25m away from cables susceptible to interference. Parts of the ‘amplifier wiring may be susceptible to interference (command signal, actual value, solenoid cables, etc.). Parallel laying of cables is very critical. The necessary distance has to be increased if cables are laid parallel over longer distances (> 10 m). The influence is least when cables cross, particu- larly i this is at an angle of 90°. Nor should cables susceptible to interference ever be laid parallel to motor cables, in particular over longer distances, and must always cross these at an angle of 90°. However, interference can also arise trom cables in the amplifier wiring system, in particular solenoid cables. Examples of devices which are particularly sus ceptible to interferences: + Office PC's + Sensors with small output voltages + Proximity switches (capacitive) + Audio equipment (TV, Hi-Fi, radio, etc.) + Devices which do not comply with EMC guide- lines. 7 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 11487032s, 17:40, ‘manual viewer Digital Power Amplifier Installation Manual Series VRD350 and VRD355 Special Notes on Wwiring and Electrical Cabi- net Design ‘The following rules and tips by no means claim to be complete. Since various electronic components are used ina variety of different ambient conditions, these guidelines only represent a compromise. The actual design of the wiring also depends on the interference emission and resistance to jamming of the individual components. + Use screened and twisted pairs of cables for the solenoid connections. The screen must be earthed (PE) at both ends. The capacity should be 120pF/m. Cables must be > 1.5mm? for a length up to 100m and > 2.5mm? for a length ‘over 100m. * Digital signal lines are to be connected at both ends to PE with a good conductivity. Command signal and actual value connections should have screened and twisted cables. These analog signal lines are to be connected to earth at both ends with a good potential equalisation. The screen connections should be made over allarge area. + In environments with great interference, use doublescreened cables for command signal and actual value connections. The inner screen is only earthed at one end, the outer screen at both ends. + In the event of low-frequency interferences on the analog signal lines (measured value fluctuations), the screen should be connected atone end. However, a corresponding potential equalisation is preferred. (See also following point) + The reference point for command signal and actual value signals is analog OV (terminal 262). All setpoint and actual value transmitters are to be connected to this terminal so as to avoid zero shifts and incorrect measurements, + When replacing older devices, the non-fused earthed conductor (PE) should be connected to terminal 18d or 18b. If ripple voltages oc- cur, connect 16b or 20b to PE. In this case the connection to 18bd must be removed. (But: preferably make a potential equalisation!) + Use only cables with a Cu screening grid and a covering of > 85% whenever possible. Avoid screening films. + The screen may not be interrupted along the entire length of the cable. If contactors, safety AVRO UK:NOD RH 0206 switches, chokes, etc. have to be used in the Wiring, the installation of a metallic housing with a high HF attenuation may be necessary. Screen terminals are to be connected over a large area to the soreen rail. The screen rail is to be installed close to the cable duct in the electrical cabinet. The metallic parts of the electrical cabinet are to be connected with high conductivity on large areas. Avoid painted surfaces. Make the desired connection with mechanical aids such as scratch plates if necessary. The doors are to be connected to the cabinet via the shortest possible homogeneous tapes (multiple). Solenoid valves, contactors, relays, brakes, etc., are to be suppressed directly at the respective coil. Suitable suppression devices are, for ex- ample, RC networks, diodes or varistors. ‘Analog and digital signal ines should preferably enter the electrical cabinet from one side. Unscreened lines of an electric circuit are to be twisted ‘Auxiliary wires are to be earthed at both ends. ‘Avoid unnecessarily long lines. This keeps the coupling inductances and capacities small Wiring should preferably not be free in the cabi- net. Cables, including auxiliary cables, should be laid as close as possible to mounting plates and the cabinet housing. Inthe event of an inadequate potential equalisa- tion between the soreen connections, a balano- ing conductor = 10 mm? should be laid parallel to the screen to reduce the screen current. A multiple connection of the screen to the cabinet casing and thus PE is generally possible. A mul- tiple connection of the screen is also permissible outside the cabinet. It filters are fitted, these should be installed close to the source of interference and with a good surface contact on the cabinet or mounting plate, It converters are used, converter filters must be provided. Variable speed motors may have to be connected using screened lines. All further instructions of the converter manu- facturer are to be observed. Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 14s‘70324, 1740 Digital Power Amplifier Series VRD350 and VRD355 Installation Manual 1.4, Block Diagram; Entire System Plouslos | Yym Senjea 10} UONDBUUOD , ozezsy cr zpqos —< «8 plousjog ! ' Wud — zpave —¢| i ! zpagz 4] Y Plousjos, ! WMd TO zpaze 4} 1 9 reubjs puewwog + a8 i Aejdsip onjen | i yoeapees! gob fl HOHUIN ys /soyeedwe9 | ‘yung /1013 | et YwOL /ADL~ | YWOL/ AOL | Woud33 on i sayouco i 101 | 41221, | ¢eubis puewwog i [eed ‘pe | equa 7, | sdueieseu 7 | ~ won98i1a zy | + uondeuig |p [eUBIs puewwog po | € [eUBis puewwod py | zreubis puewwog ze | 1 seubjs puewwog 0 1261p / BEI}0n Addins 1 ‘AO enBoreuy AOe"sL e@BeIj0n Addng |AVRO UKINOD RH 02.06 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division 9145 bitps/Imanvalzz.comidoc/63862089)parker-abgSs-series~urd360-series-nstalation-manval7032s, 17:40, ‘manual viewer Digital Power Amplifier Installation Manual Series VRD350 and VRD355 Feedback Option (hardware, only with boards for closed loop systems) AVRO UK:NOD RH 0206 10 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 01457032s, 17:40, Installation Manual Jumper Field for Actual Value Input Extent of PO-board PBI RIZ Ris ‘i = ae Classification of Application Cases + Voltage input with terminating resistance R 600kOhm: Used forall proportional valveswith displacement Tincieoouat Connactot epsigimneat transducers with mean voltages 6V and 7,5V. + Voltage input without terminating resistance: Used for potentiometric transmitter systems which the loop current is limited to smal values. | 5 * 2 Supply (#24V) Linearity of the transmitter signal is maintained. 3-0 * Current input with load R = 1000hm: Used for all sensors with current output 0...20mA or 4...20mA. |AVRO UKINOD RH 02.06 Digital Power Amplifier Series VRD350 and VRD355 |__ Voltage input with terminating © [| | sistance R = 600kOhm x7 (for displacement transducer module) Voltage input without terminating resistance 7 (Re > 10M@ for potentiometric transmitter) Current input with load R = 1000hm (for current sources) Strip terminal ‘Terminal Connection Diagrams forthe Standard Feedback Transducers for Position-Controlled Valves WLLNGIO a |] SF | |r cum BG P% | [Frrstese PFS, ALL, WLL NGOS 1 Output 2 Supply (#24V) 3-ov 4-notused 5-GND 1 - Output 2 Supply (#24) 3-0 " Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval was7032s, 17:40, Installation Manual manual viewer Digital Power Amplifier Series VRD350 and VRD355 2. Commissioning 2.1. Front Panels Front panels of VRD3SO and ABG3SS are identical The only difference is the plug connector for the S282 interface (only with VRD350). LED indicator or rr ‘supply voage ea LED inciator or vor ee ‘enable signal Pye LED incicator for ees resorramp TI LED indicator for Selected aration EEE ‘an polarity of ‘oat vals ‘nd paramore 0B a on VRD 350 ‘Seal interface R22 LED inaeatar for ‘supply votage LED indicator for LED indeator for ‘rable signal comme — $6 Plug connector ABG35S { VRD 355 AVRO UK:NOD RH 0206 Before switching the supply voltage on, the electrical wiring must be checked. Limit switches must be operational to avoid uncontrolled movements. Relevant safety regulations must be observed carefully. Suitable emergency stop measures must be taken, LED indicator for Error LED indicator for ‘overload LED indicators for ‘Solected st valuos 1-4 S-dgit7-segmentaspiay ‘2mm tet socket for Set value = 56 Feedback value =A ‘Current =|, Current B =I, Application, Construction and Operation of ABG35S ‘The ABGASS plug-in control unit is used in con- junction with the VRD355 proportional amplifier. It can easily be plugged in and removed again when parameters have been set. Combination of the VRD355 and ABG3SS provides the optimum solution for price sensitive applications together with ease of operation, especially where a number of amplifier cards are used e.g. for applications in production line machines or multi-axis NC ma- chines. When the ABG35S is removed, unauthor- ized access to the set parameters is effectively prevented. No additional components of any kind are required for operation of the ABG35S with the amplifier card, 12 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 121457032s, 17:40, ‘manual viewer Digital Power Amplifier Installation Manual Series VRD350 and VRD355 2.2. Programming Programming Instructions for U-, S-, P- and E-Values Select mode i ut ji TD U1, $1, P1 or Et can be Bl selected a) Po = 1 Ef Select address PS = = ff ie c wi oo 0 Tyo as m a Display contents has the value: uw fu Tu uw un Alter contents 1D sou e 20985 OM First press key “E*, then MUNESUULS press key "M" simultane- ously. ee. For E-values, press key “M® twice. 4) (E) SHIT =CG8= |AVRO UKINOD RH 02.06 13 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 31457032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 nec OM Programming Instructions for H-Values (Command Signal Simulation) Select mode 1° i Select address ously. Ht or H2 Display, alter, transfer contents previous page Select mode Ut Select mode Ht First press key " press key "M" simultane- Value is transfered. The previously selected address appears again. c . then Same procedure as for U, S and P-values. See Select new address or return to mode U1 with the "M"-key. After leaving H mode, auxiliary com- mand signals are no longer utilized but remain in the background, They must be set back to zero after commissioning, After supply voltage is disconnected, H parameter settings are lost Basic Settings Allparameters are preset ex-works according to the intended application of the amplifier. This setting depends on the type of amplifier (see also type code). This basic setting can be recovered from memory by pressing the 4 keys at the same time up to 10 seconds after the supply voltage is switched ‘on. During recovery the display shows “HHH” AVRO UK:NOD RH 0206 Setting parameters does notalter the preset values. Customized parameters are overwritten by the re- covery operation. Further information on adjusting the basic settings can be found in the instructions {or the control program PROVRD 350/355. 14 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 418sDigital Power Amplifier Series VRD350 and VRD355 2.3. Block Diagram; Open Loop Control Installation Manual (Software functions) 7032s, 17:40, g g {Cones Keon) suse porns 3 sisjowesed do S$ § ‘simouern sere 25 sce pet uo oun ze Soren pareoe ost oop g6 vq) sensing aan ei eo) usdo | om 28 v5), He 0. 52 zea) [rea ze lowa}es | yh eBnen oj uonasuLco vos R-o at Bl [= 2 = [ — _ e9 o-Rjo# R-O-- 4 I : = is A re 2a a mato- a 2 vena as O ap Bl ee orm = 2 sone ana 2 wane ‘amin eo |AVRO UKINOD RH 02.06 15145 ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manvalmanual viewer Series VRD350 and VRD355 Digital Power Amplifier Installation Manual Closed Loop 7032s, 17:40, (uy: Aicjon) ssqowsosed papuoye —sojowered 3 eo wo al yp0qp99) 0 9d, oa bee ¥ povcies renuos a peuses =! ge @ B}o+ PS) a] ea 4a» $ [za] [ea] 9 ~\ vyeuy ag yuo ea a a (2a](r3 CH) [rw soyoue> yours ao "Sehoutieg ae ‘apy {nly with beards for closed loop systems) 16145 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division 16 AVRO UK:NOD RH 0206 ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manvalmanual viewer 7032s, 17:40, (Gums uoj0u) srojouisied popuore — sojowered 3 jaweved Guaeiedo sues pur geubs ‘somea posnseous[euson 0 A ‘suoNDUy Je}aUIee doo1 pesos eusox3 soyonveo-aie 2ey S2}0u2I0 FA Series VRD350 and VRD355 Digital Power Amplifier ¥ piouajeg orsuny fages inom eatae fonvoo doo] 1 = 23 aprousies il eure 11000) posop feuisye <1 = BS ‘Bums satowereg noxcbeey yegpony jo od. wen = @ 2- pan [tea] Ot i [za] fs] Sle renuoo jeu ‘ssojoured Installation Manual External Closed Loop {only wth boards for closed loop systems) pal i suns pucunco reuse AVRO UKINOD Rt 02 08 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division 7 sms ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manvalmanual viewer Series VRD350 and VRD355 Digital Power Amplifier (only wth boards fr closed loop systems) Installation Manual Remote Loop Control 7032s, 17:40, (Cuno ci) sxjousssed popuoye —so}owuod 3 Siojoureed Suneiodo eisureodes somo sean Soa ecadonp c a avomes 2, esas i A® | fag 2d [i] © ed | (4) s O77 2 4 Ae @ ‘eaur ‘das fz] 23] [3 [4s } eae, ao ce os 0145 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division 18 AVRO UK:NOD RH 0206 ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manvalDigital Power Amplifier Series VRD350 and VRD355 Installation Manual Bypass Controller (ont wth boar or lsod loop systems) 7032s, 17:40, (Gunos cio) sxauseied popuope soyoureod 3 sejouesed aleuered-H dues pue subs puewiund jeu JelsuiedS somes pounseow euro jo Aadeyp -aower0d- 7, ‘suo 9}9ue sajonuo> ssedég, vy piousyes aprousies ‘so}ouIe Asan 19145 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division 19 |AVRO UKINOD RH 02.06 ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval7032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 2.4, Diagnosis Test Sockets The sockets for |, and |, can be used to measure the solenoid currents independently. The volt- age at the socket is roughly proportional to the solenoid current. The voltage is around 1V at 1A. At the socket $6 for the sum total of both analog ‘command signals (SWS and SW6), the measured value appears according to the input signals. At the socket for the actual value (A), the measured value is proportional to the actual value signal. The measured value is analogous to display U11 Internal Diagnostic Parameters (U-Parame- ters) Internally computed values can be displayed on the 7-segment display during normal operation and to aid commissioning and trouble shooting. Values should be interpreted as voltage or current with a resolution standardised in the display at 10mV to {9.99V. The relevant position in the software func- tions can be taken from the block diagrams. For This is only an auxiliary function. Pre- cise measured values, comparable with a multimeter, are not possible for technical reasons. The following values are available in the basic version: Ut [oommand signals U2 [value attor the ramp gonorator Us | Value aftar the linearisation table Display Us |Value after ampitiar gain adjustment | nV Us | signal to solencid A Us | Signal to solenoid B U7 [Solansid A current Us {Solenoid B current Us | Total current solenoid A + solenoid B Display inmA ora, Further outputs are available with the feedback option card: [070] Command signal, ralorenco pul vari] {U11| Feedback value controlled variable 1¥12| Control ditferance (error) 1¥13] Controller output (correcting variable) Note Parameter setting and diagnostics only possible for VRD385 using ABG35S. Display inv AVRO UK:NOD RH 0206 2.5, Parameters Only trained staff should make pa- rameter changes. The drive should be switched off whilst adjusting para meters. ‘S-Parameters ‘Command signals and ramp times are adjusted by means of S-Parameters. They may be set during normal operation and the alteration is immediately effective, Display 'S1..S4] Command signals as votlage: 0.9.98, Ramp times in saconds '85...88| increment 0.076) 0..9.998 incromant 0.13) 10.20.55 '$5_|Bamp trom 0 to~ [A-Solenoid) 'S6_|Ramp trom - to 0 (a-Solenoid) ‘S7__|Ramp trom 0 to-+ [B-Solenoid) 'S8__|Ramp trom +00 (B-Solenoid) H-Parameters (auxiliary parameters) ParametersH1 and H2 are used in the commission- ing phase or in test and measurement sequences for simple input of command signals (command signal simulation). This allows a command signal to be input independent of external inputs (command signal 5/ command signal 6 or selection of St to S4 and a direction), without requiring additional external circuitry. The enable signal must be present so é} that the output stages are active and current can flow. Parameters can be set during operation. Any al- toration with 1’ and U is immediately effective. The polarity sign shows which of the two output stages or solenoids the command signal acts on. Positive sign Solenoid B Negative sign Solenoid A All command signals are also additive in the H mode. This means that when command signals are input (internally $1 to $4 and externally SWS to We), these are added!o active H-parameters, tak- ing into account the signs. By switching over from H 1 t0 H2, or the reverse, it is possible to switch over to different values - also with opposite sign. ntps:fmanualzz.comidaci6385308Siparker-abg35s-serios-rd350-seres 20 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division -instalation-manval 20148,7032s, 17:40, ‘manual viewer Digital Power Amplifier Installation Manual Series VRD350 and VRD355 ‘On leaving the H mode, H parameter values are Display no longer evaluated and thus are deactivated. [PS [Dither amplitude 000..2.030 However, H parameter values are also internally of 0.20%; a stpoint ot V stored after leaving the H mode. |coresponds to 30 % see also page 25, section 3.6) When H mode is selected again (always | P6 [Dither frequency H1 first), this is immediately effective, [variable in steps from 0 to 647 Hz with its corresponding value. It is rec- brag a 160, 220, 927, 647 in H2) ‘ommended, therefore, that H1 and H2 00 alsa papo 25; socion 8.6). parameters are set to 0.00 when commissioning [57 }step function for solenoid A ae has been completed. The H-parameters are set (See also page 26, section 2.9) 0.00 when the supply voltage is switched oft Pé [Step function for solencis B .00..max.* (See also page 26, section 2.8) Displa * Max. depending on solenoid type [Hi..H2]Command signal simulation OBA27Acr35A [Command signals as voltage 0...29.99V_ The display’s resolution is lower than P-Parameters is. the input resolution. This is why only Parameters can be set during operation. Any altera- ony ane an Ae actuation ‘pads to tion to P-Parameters with 7 and |! keys is immedi- 9 play. ately effective. These parameters allow the amplifier Display Unit to be matched to the valve or the drive, Fe Proqiiial arent for sera o.8A solenoid The drive should be switched off whilst 2.7A solenoid adjusting parameters. .5A solenoid 917.4821 Initial currents are necessary with di- rectly operated directional valves NG6 On pages 95 and 36 all P- and E-para- ‘d) and NG10 with spool position transduc- 6) meters are listed with their default val- ers to ensure correct measurement of ues. Display of sign, see page 34. displacement, Display Display] [Prt jeommand signal PI [Offset (+30%... 30%) 0.00...42.99 not inverted 3 (See also page 25, socton 3.3) 0.00..-2.98 inverted 4 rein my, ‘Also available with the closed loop version: Display in 10 mV steps PZ |Linearisaiion Display Not active ° PraActual value Activa 1.5 notinvorted 1 when using NC, select tnearsation! inverted 4 (See also page 25, section 3.4) PYa|with €2=1, 24 0.255 PS [Gain factor for solenoid A 0.00..2.00 P-portion (K,,) (See also page 25, section 3.5) or control doviton < threshold (P15) Pi [Gain factor for solenoid B 0.00.20 Iwith £2 =3: 0.255 (See also page 25, section 3.5) P-portion (K, a.) bypass-loop ia] Eportion of PT-slement 0.255 (atiects P16) No solenoid current output is possible _[PTS|With E2 =1,2 4 000..095V s) with P3, P4 = 0.00. Threshold for switch over to K,, With £2 =3:not active |AVRO UKINOD RH 02.06 21 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 214s.7032s, 17:40, ‘manual viewer Digital Power Amplifier Installation Manual Series VRD350 and VRD355 Display] E-Parameters (Extended Parameters) Pie aa Ee ae O28 For general setup of the amplifier which does not, a ae in > rachel 45) have to be altered during normal operation. The With €2 = 3: 0.255 | E-parameters are factory preset. Any changes P-portion of PiD-controlir(K,) | have no effect botore tho valuos havo been stored Pi7||-portion 0.265 —] using the E-key. Pia|D-portion 0.255 | oe P19|Fportion of DTT-element 0.255 | bet [Reserved {affocts P18) | [2 Closed loop contrat [P20 |Gain for actual value input 0.00...2.00 | (only with boards for closed toop systems) Parameter for comparator function and remote Jznotactve ° loop control: i ; |-remota oop contol 2 Dips |-bypass control 3 Pai [Comparator value 0.00..0.907 safety tunction actve only wie14=1)| 4 (postive) ES Solenoid type 23 |Comparaior value 000.35 3.5A/ (QV) solenoid col = 1.89 1 gato reserved 2 Pate tor switch-on deg ———[-oso.a965"| | [27a) ov /svenodcot=2.12 3 [P2a|Time for switch-off delay 0.00..0.965 reserved 4 0.BA /(24V) / solenoid col = 2192 5 With P21 and P22 = 0.00 the comparator is reserved 6 switched off. l27A/ (9) solenoid cot = 2.12 7 (only for BLL vavas) With E2 = 2 (remote loop contro), P21 | E [P-petion current controler 0.255 and P22 have a different interpreta- Energsst on ES |Fportion current controller 0.255 tion. fonergsaton 6 |P-portion current controler 0.255 Conversion factors for controller parameters do-onorgsation E7 |Fportion current controller 0.255 with €14'=0 or Praja do-onorgsation With E1432 P13]/ 6a" E14 EB |Ramp change with E14 = 0 oF1 P16] 64 (or value altoraton use S-paramoters) : io |sconstant rise rate 1 Wares? SS [+ constant time rato (ony valid fr in- ° i uf ternal set values 1..4) Kk, (P17) 1028) /0.75ms EB [Time delay for enable signal 00.9965 kK, (P18) 16) * 0.75ms (0.108) E10 |Reserved E11 Type of feedback tansducer only wth Boards for closed loop systems) 7.5V 2 2V (E12 1 possibio) 1 |s..20ma (E12 = 1 possible) 2 fo--20ma 3 lo..109 4 JV 22V (E12 = 1 possible) 5 lov sto 6 l4.20ma (E12 = 1 possible) 7 o.20ma 8 lo.-109 9 [7.5V 24.5V (E12= 1 possibe) 10" 6 specifi customer seting. Please Gack inguves tT] manufacturer. Type 1 to for control ics with directional ‘Vales (U13 ean bo postive or ogatve). Typo 7, 8nd 9a contol cuits with pressure roguiating valves (U3 only 20). Depending on the solection E12 is automaticaly so, hhowvor, this can be manually ovarion, AVRO UK:NOD RH 0206 22 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 24s7032s, 17:40, ‘manual viewer Digital Power Amplifier Installation Manual Series VRD350 and VRD355 Also available with amplifier VRDSSS: Display Display E¥2]Cablo fracture detection VS [Select load store for ABG35S (only with boards for dosed loop systems) Store data in ABGISS s active 1 |__|toad deta to ampiiier L net actve ° E¥6 Activates action selected with Ev ETS [Serial interface Proceeding (see page, section 9.14) Press bution E aktv 1 The dispay shows the function selec Jricht aktiv o tadproviously with paramotor E15 s E¥4 Factor for PTa and P16 or L (nur bei Kartonaust. for Regolkrsiso) Activate the data transte Pig or P16" Factor 1 ° Press buton E (holdpressed) atthe sams) P19 or P16 Factor 1 1 lume press button M twice, the display Pig or P16" Factor2 2 fiashes. With the arrow button “up” (") P19 or P16 Factor 4 4 tne display shows “run. Alter pressing the| Pig or P16 Factors 3 button Eh tansor wil sar The dpa Pia or Pie Factor 16 te ee Or es ti ‘Select 0 for internal closed loop, values list loading the display shows a °-" for 11 to 16 for external closed loop. E 14 is| [he rior cataisior, automatically zaroedit £2 =0 or E2=3is| Attne amplifler VADSES with ABG5S the sot. On tha chor hand, E2 = oan be sal Holowing error messages may be shown| if Et4.21. The factor from E14 then only on the dispay alects P16 and not P13. The changeover |-6 No valid data in the ABG or wrong] in structure by E14 is carried out software vorsion inthe ABG |-7 Road error while reading trom) ABG IfE14>1 and £2 =3 the safety function Wite or read enor (very) is not active. The data in the ABG have to be com- patible with the software version in the amplifier! Extended parameters E4 to E7 are mainly for factory settings. E11 and E12 can only be selected for a limited range of other transducer types, please contact the manufacturer. Reserved parameters, must be left at their factory default value. |AVRO UKINOD RH 02.06 23 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval aia7032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 3. Function 3.1. Command signals In the standard setting with P11 = 1 positive com- mand signals activate solenoid B and negative values solenoid A. Intemal Command Signals ($1 to 4) + Four intemal set values ($1, S2, $3 and $4) can be selected with an associated direction "+" or + These inputs are optically isolated and can be selected by means of a programmable control- ler. + When electrical isolation is not required, ter- minal 2d must be bridged by the customer to terminal 26bd and terminal 322 to terminal 32bd. + Ifboth directions are selected at the same time, none of the selected command signals will be activated + If no direction is selected, no command signal will be activated, + Allfour internal command signals are controlled by the ramp function generator. * Command signals are additive and are inde- pendent of direction. + If several command signals are selected at the same time, the total of these command signals is subsequently processed. + Invarying combinations a total of 16 command signals can be selected. External Command Signal § and Command Signal 6 (SWS and SW6) + The command signal inputs 5 and 6 are de- signed for signals 0...+10 V. + These setpoints are also passed through the ramp function generator (ramp) if 8 = 1. These are also added to the other sotpoints. If E8 = 0 they bypass the ramp function generator and have a direct and undelayed effect. + The input for command signal 6 is designed as a differential amplifier (within the operating voltage range +15V). + The signal for command signals 5 and 6 must be standardised to 10V otherwise the A/D con- verter is overloaded. AVRO UK:NOD RH 0206 3.2. Ramp Function Generator $5 to SB The command signals (S1...S4) are integrated accordingly in the ramp function generator. The ramp time for each change of direction can be set independently. Times of 0...39.5 sec. can be set. The ramp characteristic is assigned as follows: $5 =0 86 =- 87 =0 88 =+ hit Unused analogue command signal inputs should be suitably bridged to analogue OV. If the sum total of all setpoints exceeds 9.95V the LED >10V starts to flash. +f B-solenoid 37 $6 $5 Aesolenoid The ramp function generator can be switched over from constant rate to constant time base with E8. The ramp function generator can be immedi: ately set to 0 with the reset ramp input (terminal 18 2) (quick stop) Folowing example is presented to help clarity: Example: E8 = 0 constant time base um 9.90 st 60 ts) The external command signals SWS and SWE bypass the ramp function 24 ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval Parker Hannifin GmbH & Co. KG Hydraulic Controls Division 24487032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 Example: E8 = 1 constant rise rate $1 =8.00V; $2 = 2.001 7 = 6.008 um 999 st 12 48 60 ts) Affects both internal command signals S1 to $4 as well as external command signals SWS and SW6. 3.3, Offset Any drift of the drive can be corrected by the off- set parameter P1. This functions as an additional ‘command signal. If the assembly is operated on NC axes, the positioning can be adjusted to 0. The value changes in steps of Sm, display shows every second step in 10mV stages. 3.4. Valve Curve Linearisation Five curves are available for linearisation of the flow characteristics of different valves: Valve curve 1: General NC curve, based on experi- ence. Linearisation of NG6 proportional directional valves with flow char- acteristic PO12 and P020. Linearisation of NG6 proportional directional valves with flow char- cateristic PO06. Linearisation of NG10 proportional directional valves. Linearisation of proportional pres- sure valves. Valve curve 2: Valve curve 3: Valve curve 4: Valve curve 5: |AVRO UKINOD RH 02.06 3.5, Adjustment of Current Gain Current gain can be set independantly in param- eters P3 (negative command signals, for solenoid A) and P4 (positive command signals, for solenoid B). (e.g. balancing for differential cylinders) 3.6. Dither The dither signal can be matched to the valve by parameters PS (amplitude) and P6 (frequency, stepwise adjustment). The dither signal reduces the hysteresis of spool movement. Generally, low frequency signals are more effective, however they may resultin noticeable disturbances (noise, oscil- lations). Values between 80Hz (for systems with @ ow natural frequency) up to 327Hz (for systems with @ high natural frequency) are recommend- able. Sensible values for the amplitude are within the range 0.20V to 1.2V. The dither signal reduces the RMS value of the current noticeably at 10V ‘command signal. 3.7. Current Controller Each solenoid is driven by a pulse width-modulated current is measured and compared with the com- ‘mand signal in a controller with a Pl-characteristic. The controller setting can be adjusted separately for rise and fall in the current through parameters E4 to E7. Factory settings should only be changed in exceptional circumstances after con- sulting with the manufacturer. 3.8, Output Stages * Output stages of PWM type are used to reduce powerlosses. + The pulse frequency is approx. 1.35 kHz. * Output stages are equipped with over ener-gisa- tion and high-speed de-energisation to increase the dynamic response. * Output stages are designed for solenoids up to 354 + The particular solenoid type used is set with parameter E3 without any hardware changes. + Standard settings are available E3= 1 3.5A solenoid; NG10 proportional di- rectional valves, direct controlled E3=3 2.7A solenoid; NGOS proportional valves, standard 25 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 251487032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 E3=5 — 0.8A solenoid; NGO6 proportional valves, pressure valves, flow control valves E3=7 — 2.7A solenoid; NGOS high-responso directional valves (RLL) 3.9. Step Function ‘A step-like command signal is added in control loops with spool valves to overcome the control edge overlap. The step function can be adjusted with parameter P7 in the negative range (solenoid A) and with parameter P8 in the positive range (solenoid B). Valves overlaps are normally around 10% to 15% of FS. The setting has a decisive ef- fect on the quality of positioning for axis drives. The ‘amplification in the small signal range is essentially determined by the step function. In the case of open loop valves, the preset value is directly applied as, a current. In the case of valves with spool position feedback, the step function should be understood as an additional position command signal. The cur- rentis then adjusted accordingly to reach the speci fied position. When changing between open loop and closed loop vaives different command signals may be necessary to achieve the same effect. 3.10. Control Circuits (only with boards for closed loop system) Feedback Signals and their Adjustment The control can be activated or switched off with E2. Feedback signals (0...10V, 0... 10V, 0...20mA and 4...20mA) can be connected to terminal 10d. For valves with spool position feedback using LVDT,, two settings for asymmetric signals are available (6V =2V or 7.5V =2V). The selection of the ap- propriate signal type is done in the software with parameter E11. Selections 7 to 9 are for external pressure control loops using pressure control valves with only one solenoid. In these cases, the software limits U13 to the positive range (solenoid B), Selections 1 and 5 are for valves with spool position feedback using LVDTs (see page 11 for standard connections using directional control valves). Selections 2 to 4 and 6 are for external control loops using directional control valves and suitable feedback transducers. For selections 1 to 6 U13 can be positive or negative, depending on the difference between feedback and set value. Then, either solenoid A or B is energized. AVRO UK:NOD RH 0206 To distinguish between current and voltage feed- back signals, jumper X7 on the feedback option board must be set correctly (see page 11). The shunt has a resistance of 100 Ohms. In case it is necessary to shift the zero level, this can be done by the feedback circuit using potentiometer R12, (not possible for E11 = 3; 4; 6; 8 and 9). 3.11, To set Zero Point General Case Place the feedback transducer in its zero position (see table 25/1) and set the amplifier to display U11. Then set the displayed value to zero by adjusting potentiometer R12 (enable must be switched on, remove the solenoid connector). Il E11 = 7, 8, 9, no values < 0.000 are shown. With Position-Controlled Valves Set initial currents (P9, P10) and then set E2 = 0 (control system not active). Switch on enable and leave solenoid plug connected. Now bring actual value transducer into zero position and switch amplifier over to display U11. Now set display U11 to zero with potentiometer R12. For setting the Range of the Feedback Signal or setting the Feedback Gain Adjust the feedback signal to its maximum value for the particular transducer type. Set the gain with potentiometer R11 so that display U11 on the ame fier shows 9.90. These basic settings are carried out in the factory for amplifiers ordered according to the model codes. The feedback signal can be inverted with parameter P12, and the set value signal with P11, to change to a required control sense. The actual value signal is now available at terminal 410b as an independent ,display ampitication value (e.g. for externally calibrated display functions). The adjustment is made independantly of the real actual value gain. The following adjustments then should be made: + Leave maximum value of actual value signal set (see standarcising the actual value signal) + Now adjust potentiometer R13 so that the de- sired value is present at terminal 10b (e.g. 6 V for 60 bar), 26 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 261487032s, 17:40, Digital Power Amplifier Installation Manual Series VRD350 and VRD355 sensrte] zoo pamt_[ HAS Mow [Peter | Femme | amen | Aaaese Tea 7av 75V>0V 1 1 39..99V 33.13 4.20mA ama ama ov zo7z | 1 | 12.54ma | 097.15 0..20mA oma not possible sors | 0 - 037.15 0..10V ov not possible oro | 0 - 037.15 e22v ev evs0v 5 1 39..99V 33.13 ost ov not possible 6 ° - 087.15 75245V av 7530V 10 1 sooo | 037.15 3.12. Controller Parameters ‘When setting parameters P13 and P16, the effect of parameter E2 and E14 must be taken into account. E2 = 1 and E14 0 are used for position-controlled di- rectional valves. E2 = 1 or 4 (with security function) and E140 is selected for external control circuits, depending on the gain required. E14 specifies an additional amplification. E2=1,2and4 . P13'is the K,, for smal deviations P16 is the K,, for large deviations P15 is the switching threshold K,, > Kz» The division into two amplifications permits stable, controller settings, even with large deviations. E2=3 Bypass control activated P13 is the amplification K, branch P16 is the amplification K, (P share) of the PID controller P15 has no function E14 = 0 set. ‘cop Of the bypass |AVRO UKINOD RH 02.06 Parameter P14 can be used to program a T-portion (delaying ime function element). Effect. on P16. ‘The integral portion is determined by P17 whilst P18 is used to set a derivative element. The integral function P17 is limited internally to the maximum value. As soon as this is reached, the LED ">>10V" on the display panel lights up. The time for a delayed action D-portion is set with parameter P19. Itis possible to fine tune the gain for the feed- back signal by parameter P20 without changing the hardware settings. With external controls, P17 = 0.00 in the basic sotting! 27 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 27487032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 External Closed Loop The structure of the closed loop is as in the fig- ure on page 17. Other types of loop control, e.g speed control for rotational drives, are connected similarly. The ramp function is useful in external closed-loop systems to avoid overdriving the valve and con- troller. E.g. in position control loops, the ramps determine the speed of the drive Using the equations given on page 22 enables the computation of parameters from the loop gain factor. In cases where these calculations are not applicable, the parameters have to be determined experimentally. Avoid instability of the control loop dur- ing the experimentation. This may cause damage to the drive or machine. Sequence with active Safety Function During commissioning and after an e-stop, unde- sired drive movements may occur. The drives are normally run at a specified speed. This is imple- mented by the internal ramp functions (S5 to S8). If the e-stop chain is activated, either the supply voltage or the enable is switched off. If only the enable is switched off, you must pay attention to the safety instructions on page 22! After restarting (supply voltage or enable on), there is usually large deviation. This then leads to unwanted move- ments at the drive. The deviation is the result of the ramp-controlled command signal start from zero. AA specific software function ensures that uncon- trolled movements are avoidable. To activate this safety option, following parameter settings have to be programmed: Precondition: E1 6 and E2=4 This means, if E14 = 1...16, external control loops are activated, If E2=4 the safety function is switched and E2 = 3 its not active. [Action input [Terminal Signal at Input ap attain’ Uae, 0 Enaia faba lov stop act ea lw [Rostart andor apply onabio [Use andor Enable ie jaev signal and set command signals. Jand $1 to S4 ld loav [to Ov. ez, 4d, 6d, 62 S14 S2.,83.84=0V [Set set= actual [Automatically performed by ampifier [Activate the normal made of one trom $1 to S4 az, ad, 64, 62 (Sty S2v $v Sa) =20V loperation; extemal and internal [O° iF Icommand signals aro once again |procossod. Jone from + oF - lez, 22 lev) =2av Drive to starting position. The starting position corresponds to the active setpoints. The selected internal ‘command AVRO UK:NOD RH 0206 nal (S1 v S2 v S3 v S4), and possibly the external command signal is used. ntps:fmanualzz.comidaci6385308Siparker-abg35s-serios-rd350-seres 28 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division -instalation-manval aia7032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 The internal command signal used for this purpose serves as a final value ) (position value). The drive is run to this Value according to the pre-set ramp. Status Chart of Safety Function E-Stop E-Stop Bs remains active Machine in (hormal working E-Stop activated, supply off card off Start working cycle E-Stop remains active No start signal Machine ready for (Sty 82v 8384) Ate safl enable on, dive moves to starting Bestion A MStarting position not yel reached |AVRO UKINOD RH 02.06 External Control, Pressure Control Pressure sensors can be designed in two or three-wire technology. The sensor signal is either a voltage from 0...10V or a current from 0...20mA or 4...20mA. The parameter E11 should be sot between 7 and 9. Apart from an adjustment to the sensor signal, this also prevents controller param- eters U13 <0 (see page 22), Wire break monitoring is only possible with 4...20mA sensor signals. When connecting pressure sensors we recom- mend that great care be taken. The zero volt witing, screening and PE connection are critical. Faults in the signal can lead to a triggering of the wire break monitor. Instabilities in the control loop are also possible. The scaling of the sensor signal is very important fora high quality pressure control. This also guar- antees a maximum exploitation of the resolution. ‘The maximum pressure to be controlled is decisive. The closer the sensor signal is to 10V or 20mA, the more favourable this is. In other words, the measuring range of the sensor must be adapted to the pressure range of the application. Furthermore, the setting of the actual value adjustment must also be given special attention. At the maximum pres- sure to be controlled, almost 9.90V should appear indisplay U11 Example: Measuring range ‘seting ‘orsensor wt) {bad or fight wong | ight) wrong iv tov tov ev ov 890¥ gov Pump Canto! | 100bar 400 bar pressure range 3100" 8D ar When setting the zero point, care must be taken because pressure valves do () not permit a drop in pressure to 0 bar on account of their design. 29 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval aia7032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 The controller structure is shown in the figure on page 17. Pressure control loops and their dynamics, are essentially determined by the system capaci- ties. A presetting in the works is impossible. The parameters should be determined individually for each application. Controller parameters can be calculated from the loop ampilfications using the ‘equations on page 22. Should these calculations prove impossible, the parameter values have to be determined in tests. Avoid instability of the control loop dur- ing the experimentation. This may cause damage to the drive or machine Proportional pressure valves can oscillate on ac count of the system. This behaviour may be signifi- cant in the control loop, particularly through system feedbacks. In certain circumstances, this may be counteracted by adjusting the dither parameter (P5, 6). Variations to the dither frequency are generally the most effective, Remote Loop Control Initially, the amplifier is in open loop operating mode, The solenoid current is in direct proportion to the command signal, resulting e.g. in a certain pressure using pressure control valves. By chang- ing the “reset ramp” input to high, e.g. by using an external PLC, the amplifier is armed to function as a loop controller. The comparator monitors the actual value signal In the case of pressure controls, mainly using switching controllers, P21 is preferably used. If the actual value now exceeds this comparative value, the control switches on. The output of the integral part (P17) starts at the same time with the value 0. This is why negative oscillations may occur due to the system. Even if the actual value is under the switching threshold, the control remains active. The signal at the ,Ramp reset" input is required to switch off the control. The control remains active until ,Reset ramp" returns to OV. AVRO UK:NOD RH 0206 The remote loop control is activated with E2 = 2. Then P21 and P22 have the following meanings: Display P21 [Positive threshold a100..2. 990 factivates controler P22| Negative threshold [00.298] activates controler lf E2=2 and P21 and P22 = 0, the control can be directly activated with the "Reset ramp* input. This permits a selective external activation and deactiva- tion of the control. IfE2=2, actual value U11 is used directly as a com- parative value. This is different from the “Standard ‘comparator function”, where the control difference U12 is decisive. The Effects of the Time Delay P23 and P24: P23 with remote loop controller must always be set = 0.00, Other values give no funtion, P24 for a delay when switching in the control with a switching controller. The control is, switched on after a time delay of the preset time. The status is displayed with the LED “Reset Ramp’ Input | cra a Leo Roset | 7c ethane” [Conttotloop| RESET Ramp | _ threshold Lied 0 smaller 1 ‘088 off 1 smaller 1 ‘open on 1 larger 1 closed _|_tashing 30 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 04s7032s, 17:40, Installation Manual Digital Power Amplifier Series VRD350 and VRD355 av Comparator ov out ” LED oft "RESET Rae" eked Loop cont oon atv Input "ost ramo* ov ° prox Presa rica en (arp) Bypass Controller See also block diagram on page 19, The bypass controller is designed as a parallel circuit of a P-amplifier with an PID-controller. The processed command signal from U10 is hereby used directly as an input to the P-amplifier, Follow- ing calculation, the signal is added to the adjusting signal of the PID controller. This is supplied with the control deviation (U12). This operating mode enables enhanced dynamic Sotting E2 = 3 activates the bypass, P13 detor- mines the gain of the bypass loop, P15 is without any function and P16 sets the P-portion, P17 the |-Portion and P18 the D-Portion of the PID-con- troller. 3.13. Programmable Comparator Function General Comparator Funktions The function of the comparators and the compara- tive value result from the combinations shown in table below. P21 and P22 can each be adjusted over the full range from 0...+9.99V. The setting resolution is, 10mV. P21 is responsible for control deviations 20 ‘and P22 for control deviations <0. The window centre is defined by: Set = Actual or [Set - Actual] = 0 The window itself by P21 and P22 The output dolay P23 and P24 (time for switching output on and off) can be set in steps of 10ms with the maximum value of 9.96 sec. The opto-decau- pled comparator output signal can be monitored at terminal 14b. ‘Comparator function with E2 = 1,3 or 4 To implement the monitoring funetions with: * controlled machine functions, and with * controls (position, speed and pressure controls, performance with simplified parameter setting. etc.) Compara TEDRESET RAN stn tin Comparator carssosign | SE"? | Enabio | peunae | vata | tout” | input | Input eee To | ov | tom | random ov oi on opentoop | 0a] 090] —Uzomide [a ot ea cronloop | 6 | aav_| 20m | Wows | aay __| ashes [shoe at dosedioop | 0 [av] 0.90 Uieouico | ov of cy sosedio | 0 | _2av_| om | Utomo | aay | nshos | nanootat cosedlogp | 3.4 [av | 0.90] Ura outico | ov of ch sosediog | tna | aa | fom | Utemige | aay | ashes | naneo tat sbosedieop | 2} —2eV] 000 | Urteutsoo J ov so pg0 29 sosediog | 2 | aav_| tom | Unvmide | av See page 20 opentoop | ono] aay] 090] — random ov of wm coediom | vas | av | 000 | fandom ow ot a |AVRO UKINOD RH 02.06 31 Parker Hannifin GmbH & Co. KG Hydraulic Controls Division ntps:ifmanvalzz.com/doci6286908Siparker-abg2Ss-series-rd350-series-nstallation-manval 314s,