W.E.ST. Elektronik GmbH

Transcription

1 Technical Documentation PAM-195-P PAM-195-L Power amplifier for directional valves

2 CONTENTS 1 General Information Order number Scope of supply Accessories Symbols used Legal notice Safety instructions Characteristics Device description Use and application Installation instructions Typical system structure Method of operation Commissioning Technical description Input and output signals LED definitions Circuit diagram Typical wiring Connection examples Technical data Parameters Parameterlist Parameter description LG (Changing the language for the help texts) MODE (Switching between parametergroups) SOLENOIDS (One or two solenoids) CCMODE (Activation of the characteristic linearization) RCURR (Current input in ma) FUNC:IN (Choice of the additional function of S0/PIN 6) S1 (Switchover of the output current) LIM (Signal monitoring) POL (Output polarity) SENS (malfunction monitoring) AINA (Current- / Voltage input) AIN (Analogue input scaling) AA (Ramp function) CC (Characteristic linearization) MIN (Overlap compensation) MAX (output scaling) TRIGGER (threshold value of MIN function) CURRENT (Current range switch) DFREQ (Dither frequency) DAMPL (Dither amplitude) PWM (PWM frequency) PPWM (Solenoid current controller P gain) IPWM (Solenoid current controller I gain) PROCESS DATA (Monitoring) Appendix Failure monitoring Page 2 of 30 PAM-195-*

3 6.2 Troubleshooting Special versions Description of the command structure Remarks Page 3 of 30 PAM-195-*

4 1 General Information 1.1 Order number PAM-195-P for directional valves (max output current: 1,0 A, 1,6 A and 2,6 A) PAM-195-L for directional valves (max output current: 0,5 A, 0,8 A and 1,3 A) Alternative products PAM-195-P-GL PAM-196-P PAM-193-P - special version with GL approval - two independent channels for pressure or throttle valves - power amplifier for control, throttle and pressure valves, adjustment via potentiometer 1.2 Scope of supply The scope of supply includes the moduleplus the terminal blocks which are a part of the housing. The Profibus plug, interface cables and further parts which may be required should be ordered separately. This documentation can be downloaded as a PDF file from Accessories RS232-SO USB-SO WPC Programming cable with RS232C interface - Programming cable with USB interface - Start-Up-Tool (downloadable from our homepage products/software) 1 The number of the version consists of the hardware-version (first two digits) and the software-version (second two digits). Because of the development of the products these numbers can vary. They are not strictly necessary for the order. We will always deliver the newest version. Page 4 of 30 PAM-195-*

5 1.4 Symbols used General information Safety-related information 1.5 Legal notice W.E.St. Elektronik GmbH Gewerbering 31 D Niederkrüchten Tel.: +49 (0) Fax.: +49 (0) Homepage: or Date: The data and characteristics described herein serve only to describe the product. The user is required to evaluate this data and to check suitability for the particular application. General suitability cannot be inferred from this document. We reserve the right to make technical modifications due to further development of the product described in this manual. The technical information and dimensions are nonbinding. No claims may be made based on them. This document is copyright. Page 5 of 30 PAM-195-*

6 1.6 Safety instructions Please read this document and the safety instructions carefully. This document will help to define the product area of application and to put it into operation. Additional documents (WPC-300 for the start-up software) and knowledge of the application should be taken into account or be available. General regulations and laws (depending on the country: e.g. accident prevention and environmental protection) must be complied with. These modules are designed for hydraulic applications in open or closedloop control circuits. Uncontrolled movements can be caused by device defects (in the hydraulic module orthe components), application errors and electricalfaults. Work on the drive or the electronics must only be carried out whilst the equipment is switched off and not under pressure. This handbook describes the functions and the electrical connections for this electronic assembly. All technical documents which pertain to the system must be complied with when commissioning. This device may only be connected and put into operation by trained specialist staff. The instruction manual must be read with care. The installation instructions and the commissioning instructions must be followed. Guarantee and liability claims are invalid if the instructions are not complied with and/or in case of incorrect installation or inappropriate use. CAUTION! All electronic modules are manufactured to a high quality. Malfunctions due to the failure of components cannot, however, be excluded. Despite extensive testing the same also applies for the software. If these devices are deployed in safety-relevant applications, suitable external measures must be taken to guarantee the necessary safety.the same applies for faults which affect safety. No liability can be assumed for possible damage. Further instructions The module may only be operated in compliance with the national EMC regulations. It is the user s responsibility to adhere to these regulations. The device is only intended for use in the commercial sector. When not in use the module must be protected from the effects of the weather, contamination and mechanical damage. The module may not be used in an explosive environment. To ensure adequate cooling the ventilation slots must not be covered. The device must be disposed of in accordance with national statutory provisions. Page 6 of 30 PAM-195-*

7 2 Characteristics This module is used for the control of proportional valves. The amplifier is controlled by a ±10 V (or ma) signal. The output current is closed loop controlled and therefore independent from the supply voltage and a varying solenoid resistance. The universal input scaling enables the use of different input signals (e.g.: V with 5 V for the centre position joysticks ), For monitoring (broken cable of the joystick) of the signal the boundary can be defined. By the free parameterization of the power stage all typical proportional valves of the different manufactures can be optimally adapted. Typical applications: Control of proportional valves, current controlled adjustment of directional-, throttle and pressure valves. Features Power amplifier for proportional directional valves Compact housing Digital reproducible adjustments New: Free scaling of the input signal New: Monitoring of the signal range e.g.for joysticks Characteristic linearization via 10 XY-points per solenoid Free parameterization of ramps, MIN and MAX, DITHER (frequency and amplitude) and PWM frequency MIN / MAX adjustment alternative in [ma] Output current up to 2,6A Adaptable to all standard proportional valves Fault diagnosis and extended function checking Simplified parameterization with WPC-300 software version 3.2 Page 7 of 30 PAM-195-*

8 2.1 Device description 99,0000 mm 23,0000 mm ,0000 mm Made in Germany Date: Add.: ID: V: W.E.ST. Elektronik D Niederkrüchten Homepage: Typenschild und Anschlussbelegung Type plate and terminal pin assignment W.E.ST. LEDs RS232 Interface Ready Status Klemmblöcke (steckbar) Terminals (removable) Page 8 of 30 PAM-195-*

9 3 Use and application 3.1 Installation instructions This module is designed for installation in a shielded EMC housing (control cabinet). All cables which lead outside must be screened; complete screening is required. It is also a requirement that no strong electro-magnetic interference sources are installed nearby when using our open and closed loop control modules. Typical installation location: 24V control signal area (close to PLC) The devices must be arranged in the control cabinet so that the power section and the signal section are separate from each other. Experience shows that the installation space close to the PLC (24 V area) is most suitable. All digital and analogue inputs and outputs are fitted with filters and surge protection in the device. The module should be installed and wired in accordance with the documentation bearing in mind EMC principles. If other consumers are operated with the same power supply, a star-connected ground wiring scheme is recommended. The following points must be observed when wiring: The signal cables must be laid separately from power cables. Analogue signal cables must be screened. All other cables must be screened if there are powerful interference sources (frequency converters, power contactors) and cable lengths > 3m. Inexpensive SMD ferrites can be used with high-frequency radiation. The screening should be connected to PE (PE terminal) as close to the module as possible. The local requirements for screening must be taken into account in all cases. The screening should be connected to at both ends. Equipotential bonding must be provided where there are differences between the connected electrical components. With longer lengths of cable (>10 m) the diameters and screening measures should be checked by specialists (e.g. for possible interference, noise sources and voltage drop). Particular care is required with cables of over 40 m in length the manufacturer should be consulted if necessary. A low-resistance connection between PE and the mounting rail should be provided. Transient interference is transmitted from the module directly to the mounting rail and from there to the local earth. Power should be supplied by a regulated power supply unit (typically a PELV system complying with IEC , secure low voltage). The low internal resistance of regulated power supplies gives better interference voltage dissipation, which improves the signal quality of high-resolution sensors in particular. Switched inductances (relays and valve coils) connected to the same power supply must always be provided with appropriate overvoltage protection directly at the coil. Page 9 of 30 PAM-195-*

10 3.2 Typical system structure This minimal system consists of the following components: (*1) proportional valve (*2) hydraulic cylinder (*3) power amplifier PAM-195 (*4) interface to PLC with analogue and digital signals 3.3 Method of operation This power amplifier will be controlled via an analogue signal (from the SPS, from a joystick or a potentiometer). An ENABLE signal (24V typical) activates the function and the READY output indicates the active module, if no internal or external error was detected. The integrated standard functions will be configured via different parameters. In case of a fault the power output stage will be deactivated and the fault will be indicated via deactivating the READY output and the flashing READY LED. Three different modes can be used for the error management. SENS=ON: all faults have to be acknowledged by the ENABLE input. SENS=AUTO: automatic reset mode for all signal faults. SENS=OFF: fault detection is suppressed. The output current is controlled whereby a high accuracy and a good dynamic will be obtained. All customary proportional valves (up to 2,6A) could be controlled with this power amplifier. Page 10 of 30 PAM-195-*

11 3.4 Commissioning Step Installation Switching on for the first time Setting up communication Pre-parameterization Control signal Switching on the hydraulics Activating ENABLE Optimize controller Task Install the device in accordance with the circuit diagram. Ensure it is wired correctly and that the signals are well shielded. The device must be installed in a protective housing (control cabinet or similar). Ensure that no unwanted movement is possible in the drive (e.g. switch off the hydraulics). Connect an ammeter and check the current consumed by the device. If it is higher than specified, there is an error in the wiring. Switch the device off immediately and check the wiring. Once the power input is correct the PC (notebook) should be connected to the serial interface. Please see the WPC-300 program documentation for how to set up communication. Further commissioning and diagnosis are supported by the operating software. Now set up the following parameters (with reference to the system design and circuit diagrams): The output current and the typical valve parameter such as DITHER and MIN/MAX. Pre-parameterization is necessary to minimize the risk of uncontrolled movements. Check the control signal with a voltmeter. The control signal (the current of the solenoid) is within the range of , 6A. In the actual status it should show approximately 0A. CAUTION! You can monitor the current of the solenoids also in the WPC-300 program. The hydraulics can now be switched on. The module is not yet generating a signal. Drives should be at a standstill or drift slightly (leave its position at a slow speed). CAUTION! Drives can now leave their position and move to an end position at full speed. Take safety measures to prevent personal injury and damage. The hydraulic axis can be moved over the analogue input value. Now optimize the remaining parameters according to your application and your requirements. Page 11 of 30 PAM-195-*

12 4 Technical description 4.1 Input and output signals Connection PIN 7 PIN 8 Connection PIN 9 / 10 PIN 13 / 14 PIN 11 PIN 12 PIN 1 / 2 PIN 3 / 4 Connection PIN 6 PIN 5 Supply Power supply (see technical data) 0 V (GND) Power supply (ground). Attention, PIN 8 is connected with PIN 11 internal. PIN 11 is used as the GND potential for the command and feedback signals. Analogue signals Command (input) signal (W), range +/-100% corresponds with +/-10V or 4 20 ma. 0 V (GND) for the signal inputs Reference output voltage (8V). Current controlled PWM outputs for solenoid A and B. Digital inputs and outputs S0 input: Function depends on parameter FUNC:IN (S1/RAMP). OFF: ON: READY output: ON: OFF: Output current depending on the parameter S1 / ramp function is deactivated. 100% output current / ramp function is active. No internal or external errors are detected. ENABLE (PIN 15) is deactivated or an error is detected. 4.2 LED definitions LEDs GREEN Description of the LED function Identical to the READY output. OFF: No power supply or ENABLE is not activated. ON: System is ready for operation. Flashing: Error detected (e.g. valve solenoid or 4 20 ma). Not active when SENS = OFF. YELLOW The intensity is proportional to the output current. Page 12 of 30 PAM-195-*

13 4.3 Circuit diagram Example.: Hawe valves Input V ma 0 V Voltages input only Enable S1 PAM-195 Internal Power DC DC 0 V V PELV 0 V 12 Reference output (8 V) Power Stage ia A-Solenoid Input Scaling Commands: AIN:W AINA LIM RAMP Generator Commands: - AA:1... AA:4 Linearisation Commands: - CCMODE - CC Output Adaptation Commands: - MIN:A and :B - MAX:A and :B - TRIGGER - POL ws w c u Commands: - CURRENT - DFREQ - DAMPL - PWM - PPWM - IPWM 4 ib B-Solenoid 11 Differential input S V input 24 V output 5 Ready 6 24 V input Commands: - LG (Languages) - MODE (Expert or Standard) - RCURR - SENS Control program RS232 C 9600 Baud 1 Stopbit no parity PE via DIN-RAIL 3 4 3,5 mm JISC-6560 Buchse 2 1 A-Solenoid B-Solenoid Page 13 of 30 PAM-195-*

14 4.4 Typical wiring Magnet B Solenoid B Magnet A Solenoid A V / 24 V 0V Spannungsversorgung Power Supply PE PE Analoger Sollwert ( V) Analogue command signal ( V) + - Schirm / Screen V 12 V ref Enable 4.5 Connection examples Joystick 8V PIN ma input +In PIN 9 -In PIN 10 AIN:W V (für +/- 100%) +In PIN 9 -In PIN 10 AIN:W C ( für %) AIN:W C (für +/-100%) GND PIN 11 SPS / PLC V / +/- 10 V +In PIN In PIN GND PIN 11 Potentiometer / Joystick 8V PIN 12 AIN:W V (für +/-100%) AIN:W V (für %) +In PIN 9 AIN:W V (für +/-100%) -In PIN V to +/- 100% with external direction control GND PIN 11 +In PIN 9 AIN:W V (für % plus Polaritätsumschaltung) -In PIN 10 GND PIN 11 PIN 6 (24 V input) Parameter S1 = Page 14 of 30 PAM-195-*

15 4.6 Technical data Power supply Power consumption max. External fuse [VDC] [W] [A] (incl. ripple) 60 (depending on solenoid type) 3 medium time lag Reference voltage [V] 8 (maximum 10 ma) Digital inputs Input resistance Digital outputs Analogue inputs Resolution PWM Output current PWM frequency Sample time (pressure control) Sample time (solenoid current control) Interface [V] [V] [kω] [V] [V] [V] [ma] [%] [A] [Hz] [ms] [ms] logic 0: < 2 logic 1: > logic 0: < 2 logic 1: > 12 (50 ma) ±10 / 0 10; 90 kω ; 390 Ω < 0,1 (intern 0,02) incl. oversampling 1,0, 1,6 or 2,6 (per software selectable); broken wire and short circuit protected ,167 RS 232C, 9600 Baud, 1 stopbit, No parity, Echo Mode Housing Snap-On Module EN Polyamide PA 6.6 Combustibility class V0 (UL94) Protection class Temperature range Storage temperature Humidity Vibration Connections [ C] [ C] [%] - IP < 95 (not condensing) IEC (category C) RS232C: 3,5mm JISC x 4pol. screw terminals PE: direct via DIN rail EMC EN : 8/2002 EN : 6/2005 Page 15 of 30 PAM-195-*

16 5 Parameters 5.1 Parameterlist Command Default Unit Description LG GB - Changing language help texts. MODE STD - Mode parameter (standard or expert). SOLENOIDS 2 - Switchover between one and two solenoids. CCMODE OFF - Activation and deactivation of the characteristic linearization. RCURR OFF - Parameterization of the MIN/MAX adjustment in ma. FUNC:IN S1 - Switching function of the S0 input (PIN 6). S ,01% Switching over of the current output. LIM 0 0,01% Range monitoring of the input signal (e.g. detecting failures of joysticks). POL + - Changing of the output polarity. SENS AUTO - Activation and deactivation of the monitoring functions. AINA V - Simple input switchover between current ( ma) and voltage (±10 V). AIN:A A: 1000 B: 1000 C: 0 X: V - - 0,01 % - Scaling of the analogue input signal. AA:1 AA:2 AA:3 AA: ms ms ms ms Four quadrant ramp times. CC: X Y - Linearization function. MIN:A MIN:B 0 0 0,01% 0,01 % Compensation of the deadband. MAX:A MAX:B ,01% 0,01 % Scaling of the current output. TRIGGER 200 0,01% Trigger point for activating the MIN value. CURRENT 0 - Selection of the rated current: 0 = 1 A; 1 = 1,6 A; 2 = 2,6 A DFREQ 120 Hz Dither frequency DAMPL 500 0,01% Dither amplitude. PWM 2604 Hz PWM frequency PPWM IPWM Control parameter for the current control loop. Page 16 of 30 PAM-195-*

17 5.2 Parameter description LG (Changing the language for the help texts) LG X x= DE GB - STD Either German or English can be selected for the help texts in the WPC-300 program. CAUTION: After changing the language settings the parameter list has to be updated by pressing the ID Button in the menu bar of the WPC MODE (Switching between parametergroups) MODE X x= STD EXP - STD This command changes the operating mode. Various commands (defined via STD/EXP) are blanked out in standard mode. The several commands in expert mode have more significant influence on the system performance. Therefore they should be changed with care. Other group functions will change the parameter list depending on the settings in the corresponding commands. Only the relevant variation of the parameter is visible SOLENOIDS (One or two solenoids) SOLENOIDS X x= STD This parameter allows you to adapt the amplifier to valves with one solenoid (e.g. pressure valves) or to such with two solenoids (directional valves). CAUTION: If using valves with two solenoids and 4 20mA input signal, solenoid A will be activated by 12 4 ma and solenoid B by ma. For valves with one solenoid and 4 20 ma input signal, the activation has to be parameterized via the AIN:A command in the expertmode. Page 17 of 30 PAM-195-*

18 5.2.4 CCMODE (Activation of the characteristic linearization) CCMODE X x= ON OFF - EXP This command will be used for activation or deactivation of the characteristic linearization. Because of the direct deactivating a simple and quick estimation of the linearization is possible RCURR (Current input in ma) RCURR X x= ON OFF - EXP Switching on this parameter allows defining the MIN and MAX values directly in ma. Otherwise the MIN and MAX values are defined percentaged depending on the current parameter. This parameter is activating the real current function for MIN and MAX input FUNC:IN (Choice of the additional function of S0/PIN 6) FUNC:IN X x = S1 RAMP - EXP This command offers two additional functions selectable by input S0/PIN 6. S1: PIN 6 = active, output current range = 100% PIN 6 = inactive, output current range is scalable by the parameter S1. RAMP: PIN 6 = active, the ramp function is activated. PIN 6 = inactive, the ramp function is deactivated (no ramp times). In case of: FUNC:IN = RAMP, S1 should be always (default). In case of: FUNC:IN = S1, the ramp generator is always active. Page 18 of 30 PAM-195-*

19 5.2.7 S1 (Switchover of the output current) S1 X x= ,01% EXP This parameter makes it possible to set a reduced or polarity switched output signal. It is active during it is chosen by the command parameter FUNC:IN and deactivation of S0 (PIN 6). In default settings there is no reduction (S1 is means 100%). By setting S1 to , the polarity can be switched via input S0 (PIN 6). So the power amplifier can be controlled by a simple 0 10 V signal from a plc. CAUTION: Switching will proceed without ramp times, so it should be made only with an input signal of 0 V LIM (Signal monitoring) LIM X x= ,01% EXP The signal monitoring deactivates the output current and the READY output if the input signal leaves the permitted range after scaling. This function makes it possible to detect a short circuit or cable break of a joystick or potentiometer. Example: LIM 500 (5% lower/upper limitation) If the input signal gets higher than 95% or lower than -95% (with only one solenoid lower than 5 %), it leaves the permitted range and the outputs will switch of POL (Output polarity) POL X x= STD This command allows a switch over of the output polarity. In case of SOLENOID=2 (directional valves), the polarity of the input signal will be switched over. In case of SOLENOID=1 (throttle or pressure valve), the direction of the signal will be changed ( + = 0 % to 100 % and - = 100 % to 0 %). Page 19 of 30 PAM-195-*

20 SENS (malfunction monitoring) SENS X x= ON OFF AUTO - STD This command is used to activate/deactivate the monitoring functions (4 20 ma sensors, output current, signal range and internalfailures) of the module. ON: All monitoring functions are active. Detected failures can be reset by deactivating the ENABLE input. OFF: AUTO: No monitoring function is active. Auto reset mode. All monitoring functions are active. If the failure doesn t exist anymore, the module automatically resumes to work. Normally the monitoring functions are always active because otherwise no errors are detectable via the READY output. Deactivating is possible especially for troubleshooting. Page 20 of 30 PAM-195-*

21 AINA (Current- / Voltage input) AINA X x= V C - STD By the use of this command you can change the type of input signal between voltage (±10 V) and current (4 20mA). In case of current signal 12 ma is the neutral position 2. If choosing current, the shunt will be activated automatically AIN (Analogue input scaling) AIN:A A B C X a= b= c= x= V C % - EXP This command offers an individual scalable input. It is available in EXPERT mode only and the AINA command is replaced. The following linear equation is used for the scaling. Output = A/B (Input C) The C value is the offset (e.g. to compensate the 4 ma in case of a 4 20 ma input signal). The variables A and B are defining the gain factor. e.g.: correspond to: A = 2345, B =1000 The internal shunt for the current measuring (4 20 ma) is activated via the x value. Typical settings (examples): Command Input Description AIN:A V ±10V or 0 10V Working range: ±100% for the control of two solenoids. Output range: 0 100% for the control of one solenoid. AIN:A V ODER AIN:A V AIN:A V ODER AIN:A V 0 10V Working range: ±100% for the control of two solenoids, 5V is the neutral position The offset will be set on 5000 (50% = 5V) and the gain on 2. (0 10V represent ±100%, working range = 200%). 1 9V Working range: ±100% for the activation of two solenoids, 5V is the neutral position 2 If the parameter SOLENOID is set to 1 and the input range 0 100% has to correspond to 4 20 ma instead of ma, the AIN:A parameter has to be adapted in the EXPERT mode. Page 21 of 30 PAM-195-*

22 Command Input Description The offset will be set on 5000 (50% = 5V) and the gain on 2,5. (1 9V represent ±100%, working range = 200%). AIN:A V ODER AIN:A V 0,5 4,5V Working range: ±100% for the control of two solenoids, 2,5V is the neutral position (typical for joysticks). The offset will be set on 2500 (25% = 2,5V) and the gain on 5. (0,5 4,5 V represent ±100 %, working range 200 %). AIN:A C ODER AIN:A C AIN:A C ODER AIN:A C ODER AIN:A C 4 20mA Working range: 0 100% The offset will be set on 20% (4 ma) and the signal (16 ma = 20mA 4 ma) will be gained to 100% (20 ma), gaining factor is 1, mA Working range: ± 100% The offset will be set on 60% (12 ma) and the signal (16 ma = 20mA 4 ma) will be gained to±100%, gaining factor is 2, AA (Ramp function) AA:I X i = 1 4 x = ms STD Four quadrants ramp function. The first quadrant means the acceleration ramp for solenoid A and the second one stands for the deceleration ramp of solenoid A. According to this the third quadrant represents the acceleration ramp for solenoid B so that the fourth quadrant remains for the deceleration ramp for solenoid B. Ausgang/Output A AA:1 AA:2 Ausgang/Output B AA:3 t AA:4 Page 22 of 30 PAM-195-*

23 CC (Characteristic linearization) CC:I X Y i = x = y = ,01% 0,01% CCMODE=ON A user significant signal characteristic can be defined by this function. For activating the parameter CCMODE has to be switched to ON. The positive indexes stand for the solenoid A, the negative ones represent the solenoid B. The curve illustration is calculated according to the equation of the linear interpolation:y=(x-x1)*(y1-y0)/x1-x0)+y1). The influence of the linearization can be estimated via the process data on the monitor or on the oscilloscope. For the input of the characteristic linearization the WPC-300 program provides a tableand a graphic data input.the input signal is mapped on to the X-axis and the output signal is mapped on to the Y-axis. Page 23 of 30 PAM-195-*

24 MIN (Overlap compensation) MAX (output scaling) TRIGGER (threshold value of MIN function) MIN:I X i = A B x= ,01% (ma) STD MAX:I X x = ,01% (ma) TRIGGER X x = ,01% The output signal to the valve is adjusted by these commands. With the MAX value the output signal (the maximum valve current) will be defined. With the MIN value the overlap (dead band of the valve) will be compensated. Via the TRIGGER the activation point of the MIN function is set and so a non sensitive range around the zero-point 3 can be specified. CAUTION: If the MIN value is set too high, it influences the minimal velocity, which cannot be adjusted any longer. MAX:A Output MIN:A Input MIN:B TRIGGER MAX:B 3 This dead band is necessary, in order to avoid unrequested activations caused by small variations of the input signal. If this module is used in position controls, the TRIGGER value should be reduced (typical: 1 10). Page 24 of 30 PAM-195-*

25 CURRENT (Current range switch) CURRENT X x= RCURR=OFF The nominal current range is set with this parameter. The DITHER and also the MIN/MAX parameter always refer to the selected current range. 0 = range of 1,0 A, 1 = range of 1,6 A, and 2 = range of 2,6 A. In mode RCURR = ON this command is inactive and invisible and the current range is set automatically DFREQ (Dither frequency) DAMPL (Dither amplitude) DFREQ X x= Hz STD DAMPL X x= % STD The dither can be defined freely with this command. Different amplitudes or frequencies may be required depending on the respective valve. The dither amplitude is defined in % of the nominal current range. CAUTION: The PPWM and IPWM parameters influence the effect of the dither setting. These parameters should not be changed again after the dither has been optimized. CAUTION: If the PWM frequency is less than 500 Hz, the dither amplitude should be set to zero PWM (PWM frequency) PWM X x= Hz STD This parameter is entered in Hz. The optimum frequency depends on the valve. CAUTION: The PPWM and PPWM parameters should be adapted when using low PWM frequencies because of the longer dead times which forces a reduced stability of the closed loop control (see and ). The PWM frequency can only be set in defined steps. This means that there are deviations between the specified and the actual frequency. It always will be selected the next higher step. Page 25 of 30 PAM-195-*

26 PPWM (Solenoid current controller P gain) IPWM (Solenoid current controller I gain) PPWM IPWM X X x= 0 30 x= EXP The PI current controller for the solenoids is parameterized with these commands. CAUTION: These settings are depending on the dynamic response of the solenoid (inductive reactance). CAUTION: These parameters should not be changed without adequate measurement facilities and experiences. If the PWM frequency is > 2500 Hz, the dynamic of the current controller can be increased. Typical values are: PPWM = 7 15 and IPWM = If the PWM frequency is < 250 Hz, the dynamic of the current controller has to be reduced. Typical values are: PPWM = 1 3 and IPWM = PROCESS DATA (Monitoring) Command Parameter Unit W C U IA IB Command value after ramp Control value after linearization Output signal Current to solenoid A Current to solenoid B % % % ma ma The process data are the variable valueswhich can be continuously observed on the monitor or on the oscilloscope. Page 26 of 30 PAM-195-*

27 6 Appendix 6.1 Failure monitoring Following possible error sources are monitored continuously when SENS = ON/AUTO: Source Fault Characteristic Command signal PIN 9 / mA Command signal PIN 9 / 10 LIM function Solenoid A PIN 3 / 4 Solenoid B PIN 1 / 2 EEPROM (at switching on) Out of range Out of range Broken wire Data error The power stage is deactivated. The power stage is deactivated. The power stage is deactivated. The power stage is deactivated. The module can be activated by saving new parameters (pressing of the SAVE Button). 6.2 Troubleshooting Initial situation is an operable status of the device and existing communication between the module and the WPC-300 program. Furthermore, the parameterization of the valve control has to be done with the assistance of the valve data sheets. The RC mode in monitor can be used to analyze faults. CAUTION: If using the RC (Remote Control) mode, all safety aspects have to be checked solidly. In this mode the module is actuated directly and the machine control has no influence on the module. FAULT ENABLE is active, the module does not respond, and the READY LED is off. ENABLE is active, the READY LED is flashing. CAUSE / SOLUTION Probably the power supply is disconnected or the ENABLE signal is not present. If there is no power supply there is also no communication via our operating program. If the connection to the WPC-300 exists, the power supply is also available. In this case the availability of the ENABLE signal can be checked via the monitor. The flashing READY LED indicates that a fault is detected by the module. The fault could be: No signal at the input, if 4 20 ma signal is chosen, or signal is out of range if the LIM monitoring is activated. A broken cable or incorrect wiring to the solenoids. Internal data error: execute the command/press the button SAVE, to delete the data error. The system reloads the DEFAULTdata. With the WPC-300 operating program the failure can be localized directly via the monitor. Page 27 of 30 PAM-195-*

28 6.3 Special versions These special versions were realized for various applications and are available on request. -S3 Module with integrated hydraulic power limiting function -S4 has been replaced by th L-version -S6 10V reference voltage instead of 8V -S11 Output PIN 5 will be triggered by the active solenoid (identification of the direction) 6.4 Description of the command structure The command structure: [nnnn:i x] or [nnnn x] Meaning: nnnn - used for an arbitrary command name nnnn: - used for an arbitrary command name, expandable by an index. Indexed commands are indicated by the sign : i oder I - a dummy is for the index. E.g.an index can be A or B, depending on the direction. x - parameter value, in case of special commands more than one parameter is possible. Examples: MIN:A 2000 nnnn = MIN, i = A and x = 2000 OFFSET 50 nnnn = OFFSET and x = 50 C:IC 2000 nnnn = C, i = IC and x = 2000 Page 28 of 30 PAM-195-*

29 7 Remarks Page 29 of 30 PAM-195-*