Digital controller module SD7

Transcription

1 igital controller module igital Controller Module For position, pressure and volume flo controls Interface: - analogue - CNopen / J rofibus - HRT nalogue or SSI sensors for the feedback signal Integrated final poer stage djustment via C for snapping on to dome rail also available as controller module (see data sheet ) ERROR FUNCTION SULY USB ERROR FUNCTION SULY USB IGITL SENSOR X ESCRITION igital amplifier module for installation on dome rail for driving proportional or black/ hite valves ith one or to solenoids. ressure, volume flo or position control can be realised. The parameterisation takes place by means of menu-controlled parameterisation- and diagnostics softare «SO» from Wandfluh (USB-interface). Optionally, the electronics are available ith different field bus interfaces. FUNCTION The controller module has to ulse-width- Modulated current outputs ith superimposed dither signal. The analogue and digital inputs as ell as the digital outputs can be programmed individually. In case of the Enhanced controller, the command (position, pressure, force, etc.) in addition can be predefined by means of freely adjustable travel profiles. The field bus connection enables reading the command resp. the feedback signal as ell as the parameterisation directly via the field bus. LICTION s snap-on module, the controller module is mainly utilised in the industrial field. The module can be mounted on dome-rails. Thanks to several digital inputs and outputs, it is possible to connect the controller module to a superordinate machine control system. With the Enhanced controller, valves ith an integrated controller (e.g. SV, servo valves, etc.) can alternatively be driven via the analogue output. CONTENT GENERL SECIFICTIONS...1 BSIC CONTROLLER WITH NLOGUE INTERFCE...3 BSIC CONTROLLER WITH CNopen INTERFCE...8 BSIC CONTROLLER WITH ROFIBUS INTERFCE...14 BSIC CONTROLLER WITH HRT INTERFCE...20 ENHNCE CONTROLLER WITH NLOGUE INTERFCE...25 ENHNCE CONTROLLER WITH CNopen INTERFCE...32 ENHNCE CONTROLLER WITH ROFIBUS INTERFCE...39 ENHNCE CONTROLLER WITH HRT INTERFCE...46 GENERL SECIFICTIONS Execution Module for electrical control cubicle, housing made of plastic imensions: Basic controller analogue 105 x 114 x 22.5 mm Basic controller rofibus 105 x 114 x 45 mm Basic controller HRT 105 x 114 x 45 mm Enhanced controller analogue 105 x 114 x 45 mm Enhanced controller rofibus 105 x 114 x 45 mm Enhanced controller HRT 105 x 114 x 45 mm Installation for 35 mm dome rail acc. to EN Weight Basic controller analogue 130 g Basic controller rofibus 220 g Basic controller HRT 220 g Enhanced controller analogue 220 g Enhanced controller rofibus 240 g Enhanced controller HRT 240 g Connections Scre terminals, max. cable cross-section 2.5 mm 2. Working temperature: C The accummulated current of the simultaneously poered solenoid depends on the ambient temperature. Further information can be found in the operating instructions. Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 1/52

2 igital controller module TYE COE S # Module for electrical control cubicle igital djustable ith SO Softare configuration (function of card): Basic controller 3 Enhanced controller 6 2-solenoid version Supply voltage: 24 VC 2 12 VC 3 Basic controller: nalogue input 1: voltage 0 2: current nalogue input 1 and 2: both voltage 1 nalogue input 1 and 2: both current 2 nalogue input 3: alays current (only ith HRT) Enhanced controller: nalogue input 1 and 3: both voltage 4 nalogue input 2 and 4: both current nalogue input 1 to 4: all voltage 5 nalogue input 1 to 4: all current 6 nalogue input 1 and 2: both voltage 7 nalogue input 3 and 4: both current nalogue input 1 and 2: both current 8 nalogue input 3 and 4: both voltage Basic controller ithout HRT nalogue input 1 and 2: 10-Bit resolution Basic controller ith HRT nalogue input 1 and 2: 10-Bit resolution nalogue input 3: 16-Bit resolution Enhanced controller nalogue input 1 and 2: 10-Bit resolution nalogue input 3 and 4: 16-Bit resolution Option field bus: ithout field bus ith rofibus ith CNopen ith J1939 ith HRT esign-index (Subject to change) B B C J H Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 2/52

3 igital controller module ELEKTRISCHE KENNGRÖSSEN Basic controller ith analogue interface ELECTRICL SECIFICTIONS rotection class I 30 acc. to EN Supply voltage 24 VC or 12 VC Voltage range: 24 VC V 12 VC 10,5 15 V Residual ripple <10 % Fuse lo Current consumption: No-load current approx. 40 m Maximum current non-load current 1,8 per solenoid (ith 24 VC) consumption non-load current 2,3 per solenoid (ith 12 VC) nalogue inputs Selectable ith softare ifferential input not galvanically separated, for ground potential difference up to 1,5 V 4 20 m / 0 20 m 0 10 V (1- or 2-solenoid version) V (only 2-solenoid version) Resolution 10-Bit Input resistance Voltage input >18 kω Load for current input = 250 Ω Stabilised output 10 VC (ith 24 VC) voltage 8 VC (ith 12 VC) max. load 30 m Solenoid current: Minimal current I min Maximal current I max ccumulated current limitation ither djustable m Factory setting 150 m djustable I min 1,8 (ith 24 VC) I min 2,3 (ith 12 VC) Factory setting 700 m The accummulated current of the simultaneously poered solenoids depends on the ambient temperature. Further information can be found in the operating instructions. Frequency adjustable Hz Factory setting 100 Hz Level adjustable m Factory setting 100 m Temperature drift <1 % at T = 40 C igital inputs Sitching threshold high 6 30 VC Sitching threshold lo 0 1 VC igital outputs Lo-Side-Sitch: U max = 40 VC I max = -700 m Ramps adjustable djustable s Serial interface USB (receptacle type B) EMV Immunity EN Emission EN BLOCK IGRM Supply voltage Solenoid Stabilised output voltage green nalogue input 1 Solenoid B nalogue input 2 LE red LE yello igital input 1 igital output 1 igital input 2 igital output 2 nalogue ground Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 3/52

4 igital controller module IMENSIONS B B ERROR FUNCTION SULY USB ,5 C 114 C CONNECTOR WIRING / IN SSIGNMENT USB interface, USB type B X Socket USB type B 1 = VBUS 2 = - 3 = 4 = GN REMRK! The parameterisation cable is not part of the scope of supply (commercially available USB-cable, plug type to plug type B) IN assignment X ERROR FUNCTION SULY USB = igital input 1 2 = igital input 2 3 = igital output 1 4 = igital output 2 5 = Supply voltage 6 = Supply voltage 0 VC 7 = Stabilised output voltage 8 = nalogue ground 9 = nalogue input 1 10 = nalogue input 1-11 = nalogue input 2 12 = nalogue input 2-13 = Output solenoid driver 2 14 = Output solenoid driver 2-15 = Output solenoid driver 1 16 = Output solenoid driver 1 - Configuration analogue inputs Type description nalogue input 1 nalogue input 2 332x0- Voltage Current 332x1- Voltage Voltage 332x2- Current Current STRT-U Information regarding installation and commissioning are contained in the information leaflet supplied ith the controller module and in the operating instructions. dditional information can be found on our ebsite:.andfluh.com Free-of-charge donload: «SO-» arameterisation softare Operating instructions (*pdf) ITIONL INFORMTION Wandfluh documentation Wandfluh electronics general register 1.13 roportional spool valves register 1.10 roportional pressure valves register 2.3 roportional flo control valves register 2.6 Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 4/52

5 igital controller module ESIGN The controller module can be parameterised by means of the parameterisation softare «SO-» through the USB-interface. In addition, the parameterisation softare makes a data analysis possible. The softare «SO-» is supported by Windos 2000 and Windos X, Windos Vista and Windos 7 ith 32/64-Bit. FUNCTION ESCRITION Solenoid output Solenoid driver 1 Current measurement 1 2 scaling Fixed command s generator Controller Valve type Enable Solenoid output Select Number Enable Solenoid B Solenoid driver 2 Current measurement Feedback 1 Feedback scaling Enable Feedback 2 isplays Windos BSIC CONTROLLER WITH NLOGUE INTERFCE scaling The command can be applied as a voltage, current or digital signal. For every command, the input utilised can be selected. The scaling takes place via the parameters Interface and Reference. Furthermore every command can be monitored for a cable break (except for voltage and digital signal). For every command a dead band can also be set. Optionally one can operate ith to command s. The characteristic of these command s can be adjusted. Fixed command s There are 3 fixed command s available, hich can be selected via 2 digital inputs. Controller mode «ressure/flo valve open loop» riving of a pressure relief, pressure reducing, throttle or flo control valve in the open control circuit (ithout feedback signal). The number of solenoids that are driven is dependent on the selected mode of operation. Controller mode «ressure/flo valve closed loop (1-sol)» riving of a 1-solenoid pressure relief, pressure reducing, throttle or volume flo control valve in closed loop circuit (ith feedback signal). With it, only one solenoid can be driven (corresponds to the solenoid driver 1). generator In the open-loop controller modes, to linear ramps separately adjustable for Up and on are available per solenoid output. In the closedloop controller modes, a positive and a negative travelling speed are available. Xi Q Q Xi Feedback scaling The feedback can be applied as a voltage or current signal. For the feedback, the input utilised can be selected. The scaling takes place via the parameters Interface and Reference. Furthermore the command can be monitored for a cable break (except for voltage signal). Windos vailable are a target, contouring error and solenoid-off indo. In each indo, the threshold and the delay time can be adjusted. Controller mode «ressure control closed loop (2-sol)» riving of to 1-solenoid throttle valves in the closed loop circuit (ith feedback signal) as pressure reduction. In doing so, one ot the throttle valves serves as the loading, the other one as the unloading valve. The loading valve corresponds to the solenoid driver 1, the unloading valve to the solenoid driver 2 (graphics on the folloing page). Controller The controller module has a controller circuit. It is designed as I controller. The folloing controller modes can be selected Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 5/52

6 igital controller module Xi t Xi Controller mode «osition open loop» riving of a spool valve in the open loop circuit (ithout feedback signal). The number of solenoids that are driven is dependent on the selected mode of operation. Controller mode «osition closed loop (2-sol)» riving of a 2-solenoid spool valve in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. Controller mode «3-point controller (2-sol)» riving of a 2-solenoid valve ith sitching solenoid resp. of to 1-solenoid valves ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. x Xi t Xi Controller mode «Speed control closed loop (2-sol)» riving of a 2-solenoid spool, throttle or volume flo control valve in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. V Xi Valve type Here the mode of operation is set hen in open-loop mode. In addition, it can be selected, hether proportional or sitching solenoids are to be driven. Solenoid driver To ulse-width-modulated current outputs are available. To each output, a dither signal is superimposed, hereas dither frequency and dither level can be adjusted separately. For each output, the minimum (Imin) and maximum (Imax) current can be adjusted separately. The solenoid outputs can also be configurated as sitching outputs. Thereith for each output a poer reduction can be adjusted separately. Controller mode «2-point controller (1-sol)» riving of a 1-solenoid valve ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, only one solenoid can be driven (corresponds to the solenoid driver 1). nalogue Xi Changing over beteen the to solenoids by means of the selected digital input Controller mode «2-point controller (2-sol)» riving of a 2-solenoid valve ith sitching solenoid resp. of to 1-solenoid valves ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 6/52

7 igital controller module Signal recording The controller module has a signal recording function, This, by means of SO, enables the recording of various system signals, such as command, solenoid currents, etc., hich can be represented on a common time axis. Optimisation of characteristic curve characteristic curve adjustable per solenoid input solenoid current output enables an optimised (e.g., linearised) characteristic of the hydraulic system. CONNECTION EXMLE osition control (command and feedback as voltage signal) X1-7 Solenoid Solenoid B preset ith potentiometer on analogue input 1 e.g. 10 kohm Feedback on analogue input 2 X1-9 X1-10 X1-11 X1-12 X1-15 X1-16 X1-13 X1-14 Supply voltage Supply voltage 0V C Fuse X1-8 X1-5 X1-6 X1-3 active Target indo reached Supply voltage on digital input 1 Enable on digital input 1 X1-1 X1-4 on digital input 2 Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 7/52

8 igital controller module ELEKTRISCHE KENNGRÖSSEN Basic controller ith CNopen/J1939 interface ELECTRICL SECIFICTIONS rotection class I 30 acc. to EN evice receptacle CNopen (male) SUB, 9-pole Mating connector lug (female) SUB, 9-pole Supply voltage 24 VC or 12 VC Voltage range: 24 VC 21,0 30,0 VC 12 VC 10,5 15,0 VC Residual ripple <10 % Fuse lo Current consumption: Non-load current approx. 40 m Maximum current consumption non-load current 1,8 per solenoid (ith 24 VC) non-load current 2,3 per solenoid (ith 12 VC) nalogue inputs: Selectable ith softare ifferential input not galvanically separated, for ground potential difference up to 1,5 V 4 20 m / 0 20 m 0 10 V (1- or 2-solenoid version) V (only 2-solenoid version) Resolution 10-Bit Input resistance Voltage input >18 kω Load for current input = 250 Ω Stabilised output 10 VC (ith 24 VC) voltage 8 VC (ith 12 VC) max. load 30 m Bus topology otential separation Line, differential signal transmission CNopen/J1939 to -electronics 500 VC Solenoid current: Minimal current I min Maximal current I max ccumulated current limitation ither djustable m Factory setting 150 m djustable I min 1,8 (ith 24 VC) I min 2,3 (ith 12 VC) Factory setting 700 m The accummulated current of the simultaneously poered solenoids depends on the ambient temperature. Further information can be found in the operating instructions. Frequency adjustable Hz Factory setting 100 Hz Level adjustable m Factory setting 100 m Temperature drift <1 % at T = 40 C igital inputs Sitching threshold high 6 30 VC Sitching threshold lo 0 1 VC igital outputs Lo-Side-Sitch: U max = 40 VC I max = -700 m Ramps adjustable s Serial interface USB (receptacle type B) EMV Immunity EN Emission EN Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 8/52

9 igital controller module BLOCK IGRM Supply voltage - Stabilised output voltage nalogue input 1 voltage - X1-5 X1-6 X1-7 X1-9 X1-10 C C LE green - Microcontroller WM / WM U U I I X1-15 X1-16 X1-13 Solenoid Solenoid B nalogue input 2 current - X1-11 X / X1-14 LE red LE yello igital input 1 X1-1 X1-3 igital output 1 igital input 2 X1-2 nalogue ground X1-8 FEROM RM EEROM X1-4 X2-1 X2-2 X2-3 X2-4 igital output 2 USB X4-2 X4-3 X4-5 X4-7 CNopen/J1939 Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 9/52

10 igital controller module IMENSIONS B B ERROR FUNCTION SULY FIELBUS X USB C C CONNECTOR WIRING IGRM / IN SSIGNMENT USB interface, USB-Typ B X = VBUS 2 = - 3 = 4 = GN REMRK! The parameterisation cable is not part of the scope of supply (commercially available USB-cable, plug type to plug type B) evice receptacle CNopen (male) X CNOEN/J = Reserved 6 = Reserved 2 = CNLo 7 = CNHigh 3 = CNGnd 8 = Reserved 4 = Reserved 9 = Reserved 5 = CNShield The mating connector (plug female, SUB, 9-pole) is not included in the delivery. IN ssignment X ERROR FUNCTION SULY USB FIELBUS X4 Configuration nalogue input 1 = igital input 1 2 = igital input 2 3 = igital output 1 4 = igital output 2 5 = Supply voltage 6 = Supply voltage 0 VC 7 = Stabilised output voltage 8 = nalogue ground 9 = nalogue input 1 10 = nalogue input 1-11 = nalogue input 2 12 = nalogue input 2-13 = Output solenoid driver 2 14 = Output solenoid driver 2-15 = Output solenoid driver 1 16 = Output solenoid driver 1 - Type description nalogue input 1 nalogue input 2 303x0-C Voltage Current 303x1-C Voltage Voltage (only V possible) 303x2-C Current Current STRT-U Information regarding installation and commissioning are contained in the information leaflet supplied ith the amplifier module and in the operating instructions. dditional information can be found on our ebsite:.andfluh.com ITIONL INFORMTION Wandfluh documentation Wandfluh electronics general register 1.13 roportional directional valves register 1.10 roportional pressure valves register 2.3 roportional flo control valves register 2.6 Free-of-charge donload: «SO-» arameterisation softare Operating instructions (*.pdf) ES-file «WGOB8E.eds» Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 10/52

11 igital controller module ESIGN The controller module can be parameterised by means of the parameterisation softare «SO-» through the USB-interface. In addition, the parameterisation softare makes a data analysis possible. The softare «SO-» is supported by Windos 2000 and Windos X, Windos Vista and Windos 7 ith 32/64-Bit. The device control (enable, etc.) as ell as the command setting can be preset via the CNopen/J1939 or locally via digital, resp. analogue inputs. Furthermore the parameterisation as ell as an analysis/diagnostic are possible via the CNopen (ith J1939 on request). FUNCTION ESCRITION HOL command Solenoid driver 1 Solenoid output Current measurement 1 2 scaling Select Fixed command s generator Controller Number Enable Solenoid B Valve type Enable Solenoid driver 2 Solenoid output Current measurement Feedback 1 Feedback scaling Enable Feedback 2 isplays Windos BSIC CONTROLLER WITH CNopen/J1939 INTERFCE scaling The command can be applied via the CNopen/J1939 or as a voltage, current or digital signal. For every command, the input utilised can be selected. The scaling takes place via the parameters Interface and Reference. Furthermore every command can be monitored for a cable break (except for CNopen/J1939, voltage and digital signal). For every command a dead band can also be set. Optionally one can operate ith to command s. The characteristic of these command s can be adjusted. Fixed command s There are 3 fixed command s available, hich can be selected via 2 digital inputs. generator In the open-loop controller modes, to linear ramps separately adjustable for Up and on are available per solenoid output. In the closedloop controller modes, a positive and a negative travelling speed are available. Windos vailable are a target, contouring error and solenoid-off indo. In each indo, the threshold and the delay time can be adjusted. Controller The controller module has a controller circuit. It is designed as I controller. The folloing controller modes can be selected: Controller mode «ressure/flo valve open loop» riving of a pressure relief, pressure reducing, throttle or flo control valve in the open control circuit (ithout feedback signal). The number of solenoids that are driven is dependent on the selected mode of operation. Controller mode «ressure/flo valve closed loop (1-sol)» riving of a 1-solenoid pressure relief, pressure reducing, throttle or volume flo control valve in closed loop circuit (ith feedback signal). With it, only one solenoid can be driven (corresponds to the solenoid driver 1). HOL command If via CNopen/J1939 the device is put into the HOL condition, the respective command is activated. Xi Q Q Xi Feedback scaling The feedback can be applied via the CNopen/J1939 or as a voltage or current signal. For the command, the input utilised can be selected. The scaling takes place via the parameters Interface and Reference. Furthermore the command can be monitored for a cable break (except CNopen/J1939 and voltage signal). Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 11/52

12 igital controller module Controller mode «ressure control closed loop (2-sol)» riving of to 1-solenoid throttle valves in the closed loop circuit (ith feedback signal) as pressure reduction. In doing so, one ot the throttle valves serves as the loading, the other one as the unloading valve. The loading valve corresponds to the solenoid driver 1, the unloading valve to the solenoid driver 2. Xi Xi Controller mode «2-point controller (2-sol)» riving of a 2-solenoid valve ith sitching solenoid resp. of to 1-solenoid valves ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. Controller mode «osition open loop» riving of a spool valve in the open loop circuit (ithout feedback signal). The number of solenoids that are driven is dependent on the selected mode of operation. Controller mode «osition closed loop (2-sol)» riving of a 2-solenoid spool valve in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. t Xi Xi Controller mode «3-point controller (2-sol)» riving of a 2-solenoid valve ith sitching solenoid resp. of to 1-solenoid valves ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. Controller mode «Speed control closed loop (2-sol)» riving of a 2-solenoid spool, throttle or volume flo control valve in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. V Xi t Xi x Controller mode «2-point controller (1-sol)» riving of a 1-solenoid valve ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, only one solenoid can be driven (corresponds to the solenoid driver 1). Valve type Here the mode of operation is set hen in open-loop mode. In addition, it can be selected, hether proportional or sitching solenoids are to be driven. Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 12/52

13 igital controller module Solenoid driver To ulse-width-modulated current outputs are available. To each output, a dither signal is superimposed, hereas dither frequency and dither level can be adjusted separately. For each output, the minimum (Imin) and maximum (Imax) current can be adjusted separately. The solenoid outputs can also be configurated as sitching outputs. Thereith for each output a poer reduction can be adjusted separately. Signal recording The controller module has a signal recording function, This, by means of SO, enables the recording of various system signals, such as command, solenoid currents, etc., hich can be represented on a common time axis. Optimisation of characteristic curve characteristic curve adjustable per solenoid input solenoid current output enables an optimised (e.g., linearised) characteristic of the hydraulic system. nalogue Changing over beteen the to solenoids by means of the selected digital input CONNECTION EXMLE osition control (command and enable via CNopen/J1939, feedback as voltage signal) preset and enable via CNopen Feedback CNopen/ J1939 Master X4-6 X4-3 X4-8 X4-5 X1-7 X1-11 X1-12 X1-15 X1-16 X1-13 X1-14 Solenoid Solenoid B Supply voltage Supply voltage 0V C Fuse X1-8 X1-5 X1-6 X1-3 active Target indo reached Supply voltage X1-4 Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 13/52

14 igital controller module ELEKTRISCHE KENNGRÖSSEN Basic controller ith rofibus interface ELECTRICL SECIFICTIONS rotection class I 30 acc. to EN evice receptacle rofibus (female) SUB, 9-pole Mating connector lug (male) SUB, 9-pole Supply voltage 24 VC or 12 VC Voltage range: 24 VC V 12 VC 10,5 15 V Residual ripple <10 % Fuse lo Current consumption: No-load current approx. 40 m Maximum currentconsumption non-load current 1,8 per solenoid (ith 24 VC) non-load current 2,3 per solenoid (ith 12 VC) signal: Selectable ith softare ifferential input not galvanically separated, for ground potential difference up to 1,5 V 4 20 m / 0 20 m 0 10 V (1- or 2-solenoid version) V (only 2-solenoid version) Resolution Eingangsiderstand Stabilised output voltage Bus topology otential separation 10-Bit Voltage input >18 kω Load for current input = 250 Ω 10 VC (ith 24 VC) 8 VC (ith 12 VC) max. load 30 m Line, differential signal transmission rofibus to electronics 500 VC Solenoid current: Minimal current I min Maximal current I max ccumulated current limitation ither djustable m Factory setting 150 m djustable I min 1,8 (ith 24 VC) I min 2,3 (ith 12 VC) Factory setting 700 m The accummulated current of the simultaneously poered solenoids depends on the ambient temperature. Further information can be found in the operating instructions. Frequency adjustable Hz Factory setting 100 Hz Level adjustable m Factory setting 100 m Temperature drift <1 % at T = 40 C igital inputs Sitching threshold high 6 30 VC Sitching threshold lo 0 1 VC igital outputs Lo-Side-Sitch: U max = 40 VC I max = -700 m Ramps adjustable s Serial interface USB (receptacle type B) EMV Immunity EN Emission EN Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 14/52

15 igital controller module BLOCK IGRM Supply voltage - Stabilised output voltage nalogue input 1 voltage - X1-5 X1-6 X1-7 X1-9 X1-10 C C LE green - Microcontroller WM / WM U U I I X1-15 X1-16 X1-13 Solenoid Solenoid B nalogue input 2 current - X1-11 X / X1-14 LE red LE yello igital input 1 X1-1 X1-3 igital output 1 igital input 2 X1-2 nalogue ground X1-8 FEROM RM EEROM X1-4 X2-1 X2-2 X2-3 igital output 2 USB X2-4 X4-6 X4-8 X4-5 X4-7 rofibus Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 15/52

16 igital controller module IMENSIONS B B ERROR FUNCTION SULY FIELBUS X USB C C CONNECTOR WIRING IGRM / IN SSIGNMENT USB interface, USB type B X = VBUS 2 = - 3 = 4 = GN REMRK! The parameterisation cable is not part of the scope of supply (commercially available USB-cable, plug type to plug type B) evice receptacle rofibus (female) X ROFIBUS 1 = Reserved 6 = V 2 = Reserved 7 = Reserved 3 = Rx / Tx - 8 = Rx / Tx - N 4 = Reserved 9 = Reserved 5 = GN The mating connector (plug male, SUB, 9-pole) is not included in the delivery. IN-assignment X ERROR FUNCTION SULY USB FIELBUS X4 Configuration nalogue input 1 = igital input 1 2 = igital input 2 3 = igital output 1 4 = igital output 2 5 = Supply voltage 6 = Supply voltage 0 VC 7 = Stabilised output voltage 8 = nalogue ground 9 = nalogue input 1 10 = nalogue input 1-11 = nalogue input 2 12 = nalogue input 2-13 = Output solenoid driver 2 14 = Output solenoid driver 2-15 = Output solenoid driver 1 16 = Output solenoid driver 1 - Type description nalogue input 1 nalogue input 2 303x0- Voltage Current 303x1- Voltage Voltage (only V possible) 303x2- Current Current STRT-U Information regarding installation and commissioning are contained in the information leaflet supplied ith the controller module and in the operating instructions. dditional information can be found on our ebsite:.andfluh.com ITIONL INFORMTION Wandfluh documentation Wandfluh electronics general register 1.13 roportional directional valves register 1.10 roportional pressure valves register 2.3 roportional flo control valves register 2.6 Free-of-charge donload: «SO-» arameterisation softare Operating instructions (*.pdf) GS-file «WGOB8E.gsd» Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 16/52

17 igital controller module ESIGN The controller module can be parameterised by means of the parameterisation softare «SO-» through the USB-interface. In addition, the parameterisation softare makes a data analysis possible. The softare «SO-» is supported by Windos 2000 and Windos X, Windos Vista and Windos 7 ith 32/64-Bit. The device control (enable, etc.) as ell as the command setting can be preset via the rofibus or locally via digital, resp. analogue inputs. Furthermore the parameterisation as ell as an analysis/diagnostic are possible via the rofibus. FUNCTION ESCRITION HOL command Solenoid driver 1 Solenoid output Current measurement 1 scaling Fixed command s generator Controller Valve type Enable 2 Select Number Enable Solenoid B Solenoid driver 2 Solenoid output Current measurement Feedback 1 Feedback scaling Enable Feedback 2 isplays Windos BSIC CONTROLLER WITH ROFIBUS INTERFCE scaling The command can be applied via the rofibus or as a voltage, current or digital signal. For every command, the input utilised can be selected. The scaling takes place via the parameters Interface and Reference. Furthermore every command can be monitored for a cable break (except for rofibus, voltage and digital signal). For every command a dead band can also be set. Optionally one can operate ith to command s. The characteristic of these command s can be adjusted. Fixed command s There are 3 fixed command s available, hich can be selected via 2 digital inputs. generator In the open-loop controller modes, to linear ramps separately adjustable for Up and on are available per solenoid output. In the closedloop controller modes, a positive and a negative travelling speed are available. Windos vailable are a target, contouring error and solenoid-off indo. In each indo, the threshold and the delay time can be adjusted. Controller The controller module has a controller circuit. It is designed as I controller. The folloing controller modes can be selected: Controller mode «ressure/flo valve open loop» riving of a pressure relief, pressure reducing, throttle or flo control valve in the open control circuit (ithout feedback signal). The number of solenoids that are driven is dependent on the selected mode of operation. Controller mode «ressure/flo valve closed loop (1-sol)» riving of a 1-solenoid pressure relief, pressure reducing, throttle or volume flo control valve in closed loop circuit (ith feedback signal). With it, only one solenoid can be driven (corresponds to the solenoid driver 1). HOL command If via rofibus the device is put into the HOL condition, the respective command is activated. Xi Q Q Xi Feedback scaling The feedback can be applied via the rofibus or as a voltage or current signal. For the command, the input utilised can be selected. The scaling takes place via the parameters Interface and Reference. Furthermore the command can be monitored for a cable break (except rofibus and voltage signal). Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 17/52

18 igital controller module Controller mode «ressure control closed loop (2-sol)» riving of to 1-solenoid throttle valves in the closed loop circuit (ith feedback signal) as pressure reduction. In doing so, one ot the throttle valves serves as the loading, the other one as the unloading valve. The loading valve corresponds to the solenoid driver 1, the unloading valve to the solenoid driver 2. Xi Xi Controller mode «2-point controller (2-sol)» riving of a 2-solenoid valve ith sitching solenoid resp. of to 1-solenoid valves ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. Controller mode «osition open loop» riving of a spool valve in the open loop circuit (ithout feedback signal). The number of solenoids that are driven is dependent on the selected mode of operation. Controller mode «osition closed loop (2-sol)» riving of a 2-solenoid spool valve in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. t Xi Xi Controller mode «3-point controller (2-sol)» riving of a 2-solenoid valve ith sitching solenoid resp. of to 1-solenoid valves ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. Controller mode «Speed control closed loop (2-sol)» riving of a 2-solenoid spool, throttle or volume flo control valve in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. V Xi t Xi x Controller mode «2-point controller (1-sol)» riving of a 1-solenoid valve ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, only one solenoid can be driven (corresponds to the solenoid driver 1). Valve type Here the mode of operation is set hen in open-loop mode. In addition, it can be selected, hether proportional or sitching solenoids are to be driven. Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 18/52

19 igital controller module Solenoid driver To ulse-width-modulated current outputs are available. To each output, a dither signal is superimposed, hereas dither frequency and dither level can be adjusted separately. For each output, the minimum (Imin) and maximum (Imax) current can be adjusted separately. The solenoid outputs can also be configurated as sitching outputs. Thereith for each output a poer reduction can be adjusted separately. Signal recording The controller module has a signal recording function, This, by means of SO, enables the recording of various system signals, such as command, solenoid currents, etc., hich can be represented on a common time axis. Optimisation of characteristic curve characteristic curve adjustable per solenoid input solenoid current output enables an optimised (e.g., linearised) characteristic of the hydraulic system. nalogue Changing over beteen the to solenoids by means of the selected digital input CONNECTION EXMLE osition control (command and enable via rofibus, feedback as voltage signal) preset and enable via rofibus Feedback rofibus Master X4-6 X4-3 X4-8 X4-5 X1-7 X1-11 X1-12 X1-15 X1-16 X1-13 X1-14 Solenoid Solenoid B Supply voltage Supply voltage 0V C Fuse X1-8 X1-5 X1-6 X1-3 active Target indo reached Supply voltage X1-4 Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 19/52

20 igital controller module Basic controller ith HRT interface ELECTRICL SECIFICTIONS rotection class I 30 acc. to EN Supply voltage 24 VC or 12 VC Voltage range: 24 VC V 12 VC 10,5 15 V Residual ripple <10 % Fuse lo Current consumption: No-load current approx. 40 m Maximum currentconsumption BLOCK IGRM non-load current 1,8 per solenoid (ith 24 VC) non-load current 2,3 per solenoid (ith 12 VC) signal: Selectable ith softare Inputs 1 and 2: ifferential input not galvanically separated, for ground potential difference up to 1,5 V 4 20 m / 0 20 m 0 10 V (1- or 2-solenoid version, not input 3) V (only 2-solenoid version, not input 3) Input 3: galvanically separated for HRT Signal m / m Resolution 10-Bit (nalogue inputs 1 and 2) 16-Bit (nalogue inputs 3) Input resistance Stabilised outputvoltage Supply voltage X1-5 - X1-6 X1-7 Stabilised output voltage X1-9 nalogue input 1 X1-10 voltage - X1-11 nalogue input 2 X1-12 current - Voltage input >18 kω Load for current input = 250 Ω 10 VC (ith Version 24 VC) 8 VC (ith version 12 VC) max. load 30 m C C LE green - - Microcontroller HRT input via analogue inputs 3 Solenoid current: Minimal current I min djustable m Factory setting 150 m Maximal current I max ccumulated current limitation ither djustable I min 1,8 (ith 24 VC) I min 2,3 (ith 12 VC) Factory setting 700 m The accummulated current of the simultaneously poered solenoids depends on the ambient temperature. Further information can be found in the operating instructions. Frequency adjustable Hz Factory setting 100 Hz Level adjustable m Factory setting 100 m Temperature drift <1 % at T = 40 C igital inputs Sitching threshold high 6 30 VC Sitching threshold lo 0 1 VC igital outputs Lo-Side-Sitch: U max = 40 VC I max = -700 m Ramps adjustable s Serial interface USB (receptacle type B) EMV Immunity EN Emission EN WM / WM / U U I I X1-15 X1-16 X1-13 X1-14 Solenoid Solenoid B LE red LE yello igital input 1 X1-1 X1-3 igital output 1 igital input 2 X1-2 nalogue ground X1-8 HRT FEROM RM EEROM X1-4 X2-1 X2-2 X2-3 X2-4 igital output 2 USB X1-21 nalogue input 3 X1-22 current - HRT - Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 20/52

21 igital controller module IMENSIONS B B ERROR FUNCTION SULY USB C C CONNECTOR WIRING IGRM / IN SSIGNMENT USB interface, USB type B X = VBUS 2 = - 3 = 4 = GN REMRK! The parameterisation cable is not part of the scope of supply (commercially available USB-cable, plug type to plug type B) IN ssignment X ERROR FUNCTION SULY USB = igital input 1 2 = igital input 2 3 = igital output 1 4 = igital output 2 5 = Supply voltage 6 = Supply voltage 0 VC 7 = Stabilised output voltage 8 = nalogue ground 9 = nalogue input 1 10 = nalogue input 1-11 = nalogue input 2 12 = nalogue input 2-13 = Output solenoid driver 2 14 = Output solenoid driver 2-15 = Output solenoid driver 1 16 = Output solenoid driver 1-21 = nalogue input 3 HRT 22 = nalogue input 3 - HRT Configuration nalogue input Type description nalogue input 1 nalogue input 2 nalogue input 3 332x0-BH Voltage Current Current 332x1-BH Voltage Voltage Current 332x2-BH Current Current Current STRT-U Information regarding installation and commissioning are contained in the information leaflet supplied ith the controller module and in the operating instructions. dditional information can be found on our ebsite:.andfluh.com Free-of-charge donload: «SO-» arameterisation softare Operating instructions (*pdf) ITIONL INFORMTION Wandfluh documentation Wandfluh electronics general register 1.13 roportional directional valves register 1.10 roportional pressure valves register 2.3 roportional flo control valves register 2.6 Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 21/52

22 igital controller module esign The controller module can be parameterised by means of the parameterisation softare «SO-» through the USB-interface. In addition, the parameterisation softare makes a data analysis possible. The softare «SO-» is supported by Windos 2000 and Windos X, Windos Vista and Windos 7 ith 32/64-Bit. FUNCTION ESCRITION HOL command Solenoid driver 1 Solenoid output Current measurement 1 Scaling Fixed command s generator Controller Valve type Enable 2 Select Number Enable Solenoid B Solenoid driver 2 Solenoid output Current measurement Feedback 1 Feedback Scaling Enable Feedback 2 isplays Windos BSIC CONTROLLER WITH HRT INTERFCE scaling The command can be applied via HRT or as a voltage, current, or digital signal. For every command, the input utilised can be selected. The scaling takes place via the parameters Interface and Reference. Furthermore every command can be monitored for a cable break (except for HRT, voltage and digital signal). For every command a dead band can also be set. Optionally one can operate ith to command s. The characteristic of these command s can be adjusted. Fixed command s There are 3 fixed command s available, hich can be selected via 2 digital inputs. generator In the open-loop controller modes, to linear ramps separately adjustable for Up and on are available per solenoid output. In the closedloop controller modes, a positive and a negative travelling speed are available. Windos vailable are a target, contouring error and solenoid-off indo. In each indo, the threshold and the delay time can be adjusted. Controller The controller module has a controller circuit. It is designed as I controller. The folloing controller modes can be selected: Controller mode «ressure/flo valve open loop» riving of a pressure relief, pressure reducing, throttle or flo control valve in the open control circuit (ithout feedback signal). The number of solenoids that are driven is dependent on the selected mode of operation. Controller mode «ressure/flo valve closed loop (1-sol)» riving of a 1-solenoid pressure relief, pressure reducing, throttle or volume flo control valve in closed loop circuit (ith feedback signal). With it, only one solenoid can be driven (corresponds to the solenoid driver 1). HOL command If via HRT the device is put into the HOL condition, the respective command is activated. Xi Q Q Xi Feedback scaling The feedback can be applied via HRT or as a voltage or current signal. For the command, the input utilised can be selected. The scaling takes place via the parameters Interface and Reference. Furthermore the command can be monitored for a cable break (except HRT and voltage signal). Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 22/52

23 igital controller module Controller mode «ressure control closed loop (2-sol)» riving of to 1-solenoid throttle valves in the closed loop circuit (ith feedback signal) as pressure reduction. In doing so, one ot the throttle valves serves as the loading, the other one as the unloading valve. The loading valve corresponds to the solenoid driver 1, the unloading valve to the solenoid driver 2. Xi Xi Controller mode «2-point controller (2-sol)» riving of a 2-solenoid valve ith sitching solenoid resp. of to 1-solenoid valves ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. Controller mode «osition open loop» riving of a spool valve in the open loop circuit (ithout feedback signal). The number of solenoids that are driven is dependent on the selected mode of operation. Controller mode «osition closed loop (2-sol)» riving of a 2-solenoid spool valve in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. t Xi Xi Controller mode «3-point controller (2-sol)» riving of a 2-solenoid valve ith sitching solenoid resp. of to 1-solenoid valves ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. Controller mode «Speed control closed loop (2-sol)» riving of a 2-solenoid spool, throttle or volume flo control valve in the closed loop circuit (ith feedback signal). With it, to solenoids can be driven. V Xi t Xi x Controller mode «2-point controller (1-sol)» riving of a 1-solenoid valve ith sitching solenoid in the closed loop circuit (ith feedback signal). With it, only one solenoid can be driven (corresponds to the solenoid driver 1). Valve type Here the mode of operation is set hen in open-loop mode. In addition, it can be selected, hether proportional or sitching solenoids are to be driven. Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 23/52

24 igital controller module Solenoid driver To ulse-width-modulated current outputs are available. To each output, a dither signal is superimposed, hereas dither frequency and dither level can be adjusted separately. For each output, the minimum (Imin) and maximum (Imax) current can be adjusted separately. The solenoid outputs can also be configurated as sitching outputs. Thereith for each output a poer reduction can be adjusted separately. Signal recording The controller module has a signal recording function, This, by means of SO, enables the recording of various system signals, such as command, solenoid currents, etc., hich can be represented on a common time axis. Optimisation of characteristic curve characteristic curve adjustable per solenoid input solenoid current output enables an optimised (e.g., linearised) characteristic of the hydraulic system. nalogue Changing over beteen the to solenoids by means of the selected digital input CONNECTION EXMLE osition control (command via HRT, feedback as voltage signal) preset and enable via HRT HRT Master X1-7 X1-21 X1-22 X1-15 X1-16 Solenoid Solenoid B Feedback X1-11 X1-12 X1-13 X1-14 Supply voltage Supply voltage 0V C Fuse X1-8 X1-5 X1-6 X1-3 active Target indo reached Supply voltage X1-4 Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 24/52

25 igital controller module Enhanced controller ith analogue interface ELECTRICL SECIFICTIONS rotection class I 30 acc. to EN evice receptacle Sensor (female) SUB, 9-pole Mating connector lug (male) SUB, 9-pole Supply voltage 24 VC or 12 VC Voltage range: 24 VC V 12 VC 10,5 15 V Residual ripple <10 % Fuse lo Current consumption: No-load current approx. 40 m Maximum current consumption non-load current 1,8 per solenoid (ith 24 VC) non-load current 2,3 per solenoid (ith 12 VC) nalogue inputs: Selectable ith softare ifferential input not galvanically separated, for ground potential difference up to 1,5 V 4 20 m / 0 20 m 0 10 V (1- or 2-solenoid version) V (only 2-solenoid version) Resolution 10-Bit (nalogue inputs 1 and 2) 16-Bit (nalogue inputs 3 and 4) Input resistance Voltage input >18 kω Load for current input = 250 Ω Measuring system input nalogue output Stabilised output voltage SUB lug 9-pole (female) on front plate acc. to RS422 standard selectable ith softare absolute via start / stop absolute via SSI ( Bit, gray or binary) Voltage output ± 10 VC max. Current output ± 3 m 10 VC (ith 24 VC) 8 VC (ith 12 VC) max. load 30 m Solenoid current: Minimal current I min Maximal current I max ccumulated current limitation ither djustable m Factory setting 150 m djustable I min 1,8 (ith 24 VC) I min 2,3 (ith 12 VC) Factory setting 700 m Temperature drift <1 % at T = 40 C igital inputs igital outputs The accummulated current of the simultaneously poered solenoids depends on the ambient temperature. Further information can be found in the operating instructions. Frequency adjustable Hz Factory setting 100 Hz Level adjustable m Factory setting 100 m Sitching threshold high 6 30 VC Sitching threshold lo 0 1 VC igital input 5 7 can be used as frequency input (frequencies 0 5 khz) and as WM input (automatic frequency recognition) Lo-Side-Sitch: U max = 40 VC I max = -700 m Ramps adjustable s Serial interface USB (receptacle type B) EMV Immunity EN Emission EN Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 25/52

26 igital controller module BLOCK IGRM Supply voltage 0 VC X1-5 X1-6 C C LE green Microcontroller WM / U I X1-15 X1-16 Solenoid Ref Stabilised output voltage nalogue input 1 X1-7 X1-9 X Bit WM / U I X1-13 X1-14 Solenoid B nalogue input 2 X1-11 X LE red LE yello Stabilised output voltage nalogue input 3 - X1-31 X1-25 X Ref SI 12-Bit X1-32 X1-30 nalogue output nalogue ground nalogue input 4 - X1-27 X Bit SI X1-3 igital output 1 X1-4 igital output 2 nalogue ground X1-8 X1-23 igital output 3 Output 24VC Output 5VC X3-9 X3-7 X1-24 igital output 4 Sensor ground X3-8 Clock output X3-5 Clock output - igital input X3-6 X3-1 igital input - X3-2 - igital input 1 X1-1 igital input 2 X1-2 igital input 3 X1-17 igital input 4 X1-18 igital input 5 X1-19 igital input 6 X1-20 igital input 7 X1-21 igital input 8 X1-22 X2-1 igital ground X1-29 FEROM RM EEROM X2-2 X2-3 X2-4 USB Wandfluh G Tel sales@andfluh.com Illustrations not obligatory ata sheet no. ostfach Fax andfluh.com ata subject to change E 26/52