analog positioning module replaces: 03.04 type vt … · hydraulics bosch rexroth ag 7/12 ......
TRANSCRIPT
Analog positioning module
Type VT-MACAS-...
Component series 1X
RE 30050/07.12Replaces: 03.04
Table of contentsContents Page Features 1Ordering code 2Front plate 3Block diagram with pin assignment 4Technical data 5Function 6Electrical connection 7 and 8Adjustment and commissioning 9Error reactions 10Velocity controller adjustment 11Device dimensions 12Project planning / maintenance instructions / additional information 12
Features– Suitable for controlling valves with installed electronics for
position and velocity control– Design: Module for snapping onto carrier rails– Enable input– Cable break detection for actual value cable– Interfaces short-circuit-proof– Test points on front plate– Compensation step that can be switched off– Position: PT1 control– Velocity control possible in connection with tachometer
(speed indicator): PI control– Area adjustment cylinder
Notice:The photo is an example configuration. The delivered product differs from the figure.
1/12
2/12 Bosch Rexroth AG Hydraulics VT-MACAS-... RE 30050/07.12
Ordering code
Preferred typesAmplifier type Material numberVT-MACAS-500-10/V0 0811405139VT-MACAS-500-10/V0/I 0811405140
Hydraulic componentAxis control = AType Controller = CControl Analog = AFunction Position control = S
Optionwithout = Marking
Variant with voltage input I = Variant with current input
Customer versionV0 = Catalog version
1X = Component series 10 to 19 (10 to 19: Unchanged technical data
and pin assignment)Serial number for types
500 = Standard variant without valve amplifier function
VT- M A C A S 500 1X V0
ON
enab
ling
mes
sage
–IN p
osit
ion
gain
ram
p ti
me
zero fe
edb.
+ –
zero
valv
e
+
+
–
–
13 5
137
91115
U
supp
ly 2
4 V=
0V
I4.
..20
mA
U 0V
0V
inpu
t
MAC
AS
TP TP 0
V
sign
al
valv
esi
gnal
sign
alfe
edb.
10 11 12 138 97531
V
642
+U
B
KI KT1
KP
10 V
/ 1
0 V
++
10
V
+
BA
A/B
off
0.1.
..1 s
1...1
0 s
135
137
911 15
135
137
911 15
Sinp.
0.5%
1% off
-0-
act.
pos.
IN
⨍⨍
10 V
/ 1
0 V
++
Hydraulics Bosch Rexroth AGRE 30050/07.12 VT-MACAS-... 3/12
Front plate
Enab
leTP
Com
man
d va
lue
Erro
r UAc
tual
val
ue
Cab
le b
reak
act
ual v
alue
Zero
poi
nt c
alib
ratio
n ac
tual
val
ue
Mes
sage
in p
ositi
on:
Adju
stm
ent a
ctua
l gai
n va
lue
Posi
tion
win
dow
Area
adj
ustm
ent c
ylin
der
Com
pens
atio
n st
ep O
n/O
FF
Ram
p tim
e ra
nges
Zero
poi
nt v
alve
Acce
lera
tions
Switc
h-ov
er v
eloc
ity p
ositi
on c
ontro
ller
Brak
ing
P co
ntro
ller a
djus
tmen
t
I con
trolle
r adj
ustm
ent (
velo
city
con
trol)
or
K T1 c
ontro
ller (
posi
tion
cont
rol)
v zur
.v v
or
v ext
.v r
etr.
ON
–>
+15
V
+–1
5 V
15 V
24 V
U
100 ms...1 s1 s...10 s
+–+ –
+–
PT 1
S/V
4...2
0 m
A
0...
10
V
ON
/OFF
(1)
0...1
0 V
+ –
4...2
0 m
A
0...
10
V
0...1
0 V
0 V
+ –
4...2
0 m
A
0...
10
V
+–0.5%
+–1.0%
(2)
(3)
(4)
(10) (9)
(8)
0 V
PI
1–>1
++
(5)
UI
(7)
–+++
+–
+–(6
)
(12)
(11)
–
UB
⨍⨍
+24
V
0 V
+24
V
0 V
4/12 Bosch Rexroth AG Hydraulics VT-MACAS-... RE 30050/07.12
Block diagram with pin assignment
Valv
e si
gnal
and/
or
and/
or
Supp
ly
Com
man
d va
lue
Actu
al v
alue
Enab
le
in p
ositi
on
Posi
tion
or b
raki
ngor
acc
eler
atio
n
Ram
p ge
nera
tor
off
oror
Posi
tion
win
dow
Com
pens
atio
n st
ep
Area
adj
ustm
ent
Bloc
k co
ntro
ller
Erro
r
Velo
city
only
with
com
man
d va
lue
0...±
10 V
Actu
al v
alue
ac
cept
ance
Com
man
d va
lue
Actu
al v
alue
Cab
le b
reak
Zero
poi
ntG
ain
Zero
poi
nt
valv
eG
roun
d
"IN P
OS"
(com
pare
te
chni
cal d
ata)
Bloc
k va
lve
sign
al
Hydraulics Bosch Rexroth AGRE 30050/07.12 VT-MACAS-... 5/12
Technical data (For applications outside these parameters, please consult us!)
Supply voltage (8), (9)
Nominal 24 V = Battery voltage 21...40 V, Rectified alternating voltage Ueff = 21...28 V (one-phase, full-wave rectifier)
Current consumption, max. mA 200Signal input (1), (2)
VT-MACAS-500-10/V0 Ucommand: ±10 V, differential amplifierRi = 100 kΩ
VT-MACAS-500-10/V0/I Icommand: 4...20 mA Rsh = 200 ΩActual value signal (3), (4)
VT-MACAS-500-10/V0 Uactual: ±10 V, differential amplifierRi = 100 kΩ
VT-MACAS-500-10/V0/I Iactual: 4...20 mA Rsh = 200 ΩValve signal (5), (6, (7))
UV = ±10 V (max. 10 mA) orIV = 4...20 mA (middle 12 mA)
Compensation step Can be switched off; effective in a range of ± 4 %
Enable signal (10) V= 8.5...40 Error message (11) No error: 24 Vnom (UB) max. 50 mA
Error: < 2 VIN POS message (12) IN POS: 24 Vnom (UB) max. 50 mA
Not IN POS: < 2 VRamp ranges I: 0.1 ... 1 s
II: 1 ... 10 sArea adjustmentAK : AR
Min. 1:1; max. 1:4
Actual value adjustment Zero point: –5...10 % Gain: 50...110 %
Controller type Position: PT1Velocity: PI
Zero point valve % ±5Special features – Switchable from position to velocity control
– Switchable position window– Test points on front plate– Interfaces short-circuit-proof
Format/design mm (86 x 110 x 95.5) / moduleMounting Top hat rail TH35-7,5 or G rail G32 according to EN 60715Connection Connectors + terminalsAmbient temperature °C 0...+70Storage temperature range °C –20...+70Weight m 0.38 kg
G
= +
24 V
DC
UB
Σ
+24
V
0 V
+24
V
0 V
+24
V
0 V
+–0...10 V/ 10 V4...20 mA
+–0...10 V/ 10 V4...20 mA
G Σ
= +
24 V
DC
UB
+24
V
0 V
+24
V
0 V
+24
V
0 V
+–0...10 V/ 10 V+
–
4...20 mA
+–0...10 V/ 10 V4...20 mA
6/12 Bosch Rexroth AG Hydraulics VT-MACAS-... RE 30050/07.12
Function
ApplicationsBy means of this controller module, simple position or ve-locity controls can be represented in connection with Bosch Rexroth servo cylinders with analog position measurement systems (potentiometer). As the entire signal processing is analog and the module is only equipped with the necessary features for the set-up of controls, the costs for the drive can be kept low. There is moreover the particularity that the module can be internally switched to velocity control (front plate) and one version is in each case offered for voltage in-terface and current interface, referring to the command and actual values.
Position controlCommand and actual value of the position are compared and the deviation is forwarded to the valve amplifier. In case of an abrupt change of the input signal, the system will react with maximum dynamics. The times for accelerating or brak-ing a load are either limited by the available power or the system gain. With a ramp function as input value, the load is moved with a constant velocity.
Velocity control*Command and actual value of the velocity are compared and the deviation is forwarded to the valve amplifier. The si-gnal is amplified by integration so that even smallest errors are compensated.
With a ramp function as input signal, there is a gradual acce-leration and/or deceleration with a constant value.* Only possible with tachometer (speed indicator).
Velocity
Command value
Position
Position
Command value
Enab
leEn
able
in p
ositi
onin
pos
ition
Erro
rEr
ror
Velocity
ON
enablingmessage
–IN position
gain
1312111098765432
v
x
1
0 V
0 V
24 V DC
24 V DC
8,5...40 V DC
0 V
D* D*
*
0 V
24 V
24 V
24 V
0 V
24 V
0 VA
B
C
D
E
0 V0 V
+10 V
–10 V
ramp time
zerofeedb.
+–
zerovalve +
+
–
–
1 3513
7911
15
U
supply 24 V=
I4...20 mA
U
0V
inputsignal
valvesignal
signalfeedb.
10111213
89
7
5
3
1
V
6
4
2
+UB
Usoll
KI
KT1
KP
10 V +
BA
A/B
off0.1...1 s1...10 s
135 137 9 11
15
135 137 9 11
15
S
inp.
0.5% 1%
off-0-
act.pos.IN
⨍⨍
10 V
/ 1
0 V
+
24 V DC nom.
0V
0V10 V/ 10 V + +
10 V/ 10 V + +
Hydraulics Bosch Rexroth AGRE 30050/07.12 VT-MACAS-... 7/12
Electrical connection
Wiring diagram AVPC-V
free
Actual value
or
D* valve signal for valve with voltage or current interface
4...20 mA
ON
enablingmessage
–IN position
gain
1312111098765432
mA
x
1
24 V DC
24 V DC
8,5...40 V DC
0 V
D* D*
*
0 V
24 V
24 V
24 V
0 V
24 V
0 VA
B
C
D
E
0 V
ramp time
zerofeedb.
+–
zerovalve +
+
–
–
1 3513
7911
15
U
supply 24 V=
I4...20 mA
U
0V
inputsignal
valvesignal
signalfeedb.
10111213
89
7
5
3
1
V
6
4
2
+UB
Isoll
Iset
Iconst.
KI
KT1
KP
10 V +
BA
A/B
off0.1...1 s1...10 s
135 137 9 11
15
135 137 9 11
15
S
inp.
0.5% 1%
off-0-
act.pos.IN
⨍⨍
4...20 mA
4...20 mA
24 V DC
4...20 mA
nom.
8/12 Bosch Rexroth AG Hydraulics VT-MACAS-... RE 30050/07.12
Wiring diagram AVPC-mA
D* valve signal for valve with voltage or current interface
free
Actual value
Electrical connection
Hydraulics Bosch Rexroth AGRE 30050/07.12 VT-MACAS-... 9/12
Adjustment and commissioning
The entire adjustment of the module is carried out at the front plate with operating pressure.
Checking thewiring (page 6)
Mode settings
Controller default setting
Area ratio default setting
Supply voltage ON Enable ON (cl. 10)
Adjustment of the actual value transducer
Adjustment of the valve signal
Controller adjustment
Ramp adjustment
Fine adjustment area adjustment
– Velocity controller/position controller– Compensation step ON / OFF– Position window 0.5 % / 1 %– Ramp ON / OFF
– KP = 1 with position control– KI = 2 / KTI = 1 with velocity control (KI = 1 forbidden)
– Hex switch "A / B"; according to the area ratio of the cylinder
– LED "ON" is illuminated– LED " U" and LED " ʃʃ" are not illuminated
→ otherwise, see error reactions, page 10
– Specification of the command value minimum→ by means of "zero feedb." potentiometer actual value adjustment to 0 V
(TP "act." against TP "⊥")– Specification of the command value maximum (e. g. + 10 V; 20 mA)
→ by means of "gain" potentiometer actual value adjustment to 10 V (TP "act." against TP "⊥")
NoticeAt the 13-pin connection terminal of the module, no measuring devices must be con-nected in order to perform voltage measurements of the actual or command value.
– Enable OFF– Specification of the command value for valve zero position
→ By means of "zero valve" potentiometer adjustment of the valve signal (e. g. cylinder standstill; 0 V at the valve)
– Gradual increase in the KP share, then– Gradual increase in the KTI /KI share– Adjustment aid, page 10
– If ramp function required: Ramp ON → time range pre-selection
– Specification of the command value step (e. g. 20 %...60 %) Setting of the velocity ramps (position) and/or acceleration ramps (velocity) by means of the potentiometer
– Comparison of the chronological sequence s(t) and/or v(t) of both directions of movement by means of an oscilloscope→ by means of hexcode switch "A / B"
compensation of differences
10/12 Bosch Rexroth AG Hydraulics VT-MACAS-... RE 30050/07.12
Error reactions
U: Tripping if the value falls below the minimum inter-nal supply voltage⇒ Valve signal 0 V and/or 12 mA;
⇒ Message LED " U" and (11)Possible causes: External supply voltage too low (< 16 V) or internal error (→ repair). ʃʃ: Tripping if the actual value or command value
lines break⇒ Valve signal 0 V and/or 12 mA;
⇒ Message LED "ʃʃ" and (9)
The error is stored.Deletion of the error by switching the enable signal or the supply voltage off and on again.
t
Ideal development (without command value ramps)
t
"Overshooting", P gain too high, → rotate switch KP against 1
t
"Creeping into the position", P gain too low, → rotate switch KP against 16
t
"Vibrations", time constant too small, → rotate switch KT1 against 16
t
"Area ratio wrong"; set symmetric motion sequence by means of switch A/B
Position
Position
Position
Position
Position
sactual
sactual
sactual
sactual
sactual
scommand
scommand
scommand
scommand
scommand
Hydraulics Bosch Rexroth AGRE 30050/07.12 VT-MACAS-... 11/12
Velocity controller adjustment
V
Ideal development (without command value ramps)
P gain too small, → rotate switch KP against 16
P gain too large, → rotate switch KP against 1
P gain correct, however following error too large, minimization of the following error by means of the I controller → ro-tate switch KI until the min. following error is reached
vactual
vactual
vactual
vactual
vcommand
vcommand
vcommand
vcommand
Minimum
Following error
following error
10 11 12 138 97531 642
ON
74
21,5
110
7,5
5,5
3836
86
110
UB
98
12/12 Bosch Rexroth AG Hydraulics VT-MACAS-... RE 30050/07.12
Bosch Rexroth AGHydraulicsZum Eisengießer 197816 Lohr am Main, Germany Phone +49 (0) 93 52 / [email protected]
© This document, as well as the data, specifications and other informa-tion set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent.The data specified above only serve to describe the product. No state-ments concerning a certain condition or suitability for a certain applica-tion can be derived from our information. The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging.
Device dimensions (dimensions in mm)
Wall mounting (86 x 110 x 95.5) mm Carrier rail assembly (snap-in)
Project planning / maintenance instructions / additional information– The distance to aerial lines, radios and radar systems must be sufficient (> 1 m).– Do not lay solenoid and signal lines near power cables.– For signal lines and solenoid conductors, we recommend using shielded cables.
The cable shield must be connected to the control cabinet extensively and as short as possible.– The valve solenoid must not be connected to free-wheeling diodes or other protection circuits.