Digital axis control. Table of contents. RE 30139/08.12 Replaces: Type VT-HNC100. Component series 3X 1/20

Transcription

1 Digital axis control RE /. Replaces:. / Type VT-HNC Component series X H Table of contents Content Page Features Ordering code oftware project planning Overview of the controller functions ystem overview ystem overview, interfaces Technical data out Unit dimensions Project planning / Maintenance instructions / Additional information

2 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. Features The digital axis control VT-HNC...X is a programmable NC control for up to four controlled axes. It complies with the specific requirements for closed-loop control of hydraulic drives. The VT-HNC...X is designed for being used in rough industrial environments as regards to interference immunity, mechanical vibration, shock, and climate resistance. Fields of application Machine tools Plastics processing machines pecial machines Presses Transfer systems Technology functions equence programming Positioning Pressure/force control Differential pressure control ynchronization Curves Cams Hydraulic axes Measurement system: Incremental or absolute (I) Analog to ± V and to ma Actuating variable output voltage or current Freely configurable controller variants Position/pressure/force/velocity controller Path-dependent braking ubstitutional closed-loop control (position/force) ynchronization control of up to axes also in groups Programming User programming using a PC NC language with subroutine technology and conditional jumps NC program per axis for functional sequences axes-spanning auxiliary routine Variable setting of the NC processing velocity Variable setting of the controller scan times Password protection Operation Comfortable administration of the machine and measuring data on a PC ervice interface R TCP/IP (not available with Version Compact) Process connection Digital inputs and outputs, Analog inputs and outputs, PROFIBU DP, PROFIBU DP in Motorola format, CANopen for the communication with a superior control (for CANopen, there is no standard ED file available) PROFINET RT EtherNet/IP Assembly Top hat rail mm CE conformity CE conformity according to EMC directive //EC and EMVG (Act on electro-magnetic compatibility of operating media) from February, Applied harmonized standards: EN --: EN --: More information

3 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / Ordering code VT-HNC X VT-HNC = erial unit Version Compact for axis = C Version for hydraulic axis = Version for hydraulic axes = Version for hydraulic axes = Version for hydraulic axes = Component series to ( to : unchanged technical data and pinout) = X Included within the scope of delivery: Mating connector for X (Type Phoenix Mini Combicon -pole), XD (Type Phoenix Micro Combicon -pole or Phoenix Mini Combicon -pole), XA (Type Phoenix Micro Combicon -pole or HD-UB - pole), XM (Type Phoenix Micro Combicon -pole or HD-UB -pole) P = C = N = E = I = = Option = without synchronization G = ynchronization -axis version G = ynchronization -axis version G = ynchronization -axis version = No fitting E = TCP/IP ) Position transducer Incremental/I (not in connection with Compact version) I (only in connection with Compact version) Bus connection ) PROFIBU DP CANopen PROFINET RT (not in connection with Compact version) EtherNet/IP (not in connection with Compact version) ) Only specify "E" if the Ethernet service interface is desired for "PROFIBU DP" ) Versions without bus connection are not available. Recommended accessories (can be ordered separately) Description Interface cable R (:), length m UB-R converter Cable set VT-X/HNC-X, length m, for analog signals (connection XA) or digital position measurement systems (connection XM) with HD connector and open breakout cable for: VT-HNC--X, VT-HNC--X, VT-HNC--X, VT-HNC--X Cable set VT-X/HNC-X length m, for analog signals (connection XA) or digital position measurement systems (connection XM) with FK-MC connector and open breakout cable for VT-HNC-C-X Plug-in connector type E-BA-XA for PROFIBU DP Material number R R R R R

4 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. oftware project planning Project planning Developing application-specific data sets forms the basis for the function of the VT-HNC...X. These data sets are generated on the PC and sent to VT-HNC...X. The connection of user program and data sets is called project. This software project planning is implemented according to fix steps:. The tasks of the VT-HNC...X are defined and recorded in a flow chart. In this connection, the meaning of the inputs and outputs and the used parameters is defined.. The functions of the flow chart are implemented in a series of NC commands.. The machine data (selection of transducers and controllers) and the parameters of the NC program are defined.. The data is sent to the VT-HNC...X.. The setting and the program sequence are optimized at the machine. For detailed information on the generation of a project please refer to the document First steps. PC programs WIN-PED and WIN-PED For the implementation of the project planning tasks, two WIN-PED programs are available to the user. WIN-PED is suitable for all HNC variants mentioned in this document except for CANopen. WIN-PED is suitable for all HNC variants mentioned in this document except for the options PROFINET RT, EtherNet/IP and PROFIBU DP with TCP/IP. Projects generated with WIN-PED are not compatible with WIN-PED and vice-versa. cope of delivery for WIN-PED: Comfortable dialog functions for setting the machine data online or offline NC editor with integrated syntax test and program compiler upport for the definition of the parameters used in the NC program Dialog window for setting the parameter values online Comprehensive options for displaying process variables, digital inputs, outputs, and markers Recording and graphical presentation of up to process variables with great selection of trigger options Dialog for the graphical definition of special functions (determination of the function via polygonal sequence) Bus manager for the configuration of data exchange (PROFIBU DP, PROFINET RT, EtherNet/IP) with superior control ystem requirements: IBM PC or compatible system Windows XP or Windows for WIN-PED Windows XP or Windows for WIN-PED Random access memory ( MB recommended) MB free hard disk capacity as per control type R interface for the connection of VT-HNC...X, for the PROFINET RT, EtherNet/IP or PROFIBU DP, also the network interface TCP/IP can be used Note: The WIN-PED /WIN-PED is not included in the scope of delivery. It can be downloaded from the Internet free of charge, or ordered as CD, Material number R. Download in the Internet: Inquiries: support.nc-systems@boschrexroth.de

5 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / Overview of the controller functions Position controller: PDT controller Linear amplification characteristic curve Direction-dependent gain adaptation Gain modification via the NC program possible Adaptation of the valve characteristic curve Fine positioning Residual voltage principle Compensation of zero point errors tate feedback via Pressure, Pressure differential Position Command value provision Limitation of the actuating variable via the NC program Path-dependent braking Intermediate electronics when using commercially available NC controls ynchronization control Pressure/force controller: PIDT controller I component switchable via window Pressure differential analysis Own scan time Velocity controller: PI controller I component switchable via window ynchronization controller (up to axes): Master-slave principle Mean principle Monitoring functions: Dynamic tracking error monitoring Traversing range limits (electronic limit switches) Cable break monitoring for incremental and I Cable break monitoring for sensors with output to ma

6 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. ystem overview (example) PC PLC HMI uperior control (PLC or PC) and visualization (HMI) Global bus Digital inputs/outputs or bus system (PROFIBU DP, CANopen, PROFINET RT, EtherNet/IP) Compact axis VT-HNC-C-X CPU + axis VT-HNC--X CPU + axes VT-HNC--X CPU + axes VT-HNC--X CPU + axes VT-HNC--X

7 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / ystem overview, interfaces (example) uperior control Possible interfaces with VT-HNC...X: Analog signals Digital inputs / outputs erial interface R Bus systems (PROFIBU DP, CANopen, PROFINET RT, EtherNet/IP) Ethernet service interface Example: VT-HNC--X/N... / VT-HNC--X/E with hydraulic cylinder axis CPU slot XE XE M N L L DP/CANopen R XP/C power XC XM o n -V X.V RUN BU XD address baudrate XA HNC ingle-rod cylinder Integrated position measurement system Proportional servo valve with integrated control electronics VT-HNC--X/N... Connection cable Pressure transducer andwich plate isolator valve (with plug-in switching amplifier)

8 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. Technical data VT-HNC-C-X (Compact) Operating voltage ) U B to VDC, residual ripple <. V pp Current consumption at VDC I approx. ma Processor bit power PC Interface for WIN-PED, WIN-PED R Bus interface PROFIBU DP (max. MBaud according to IEC ), CANopen Analog inputs (AI): Voltage input (reference to A - Analog ground) Channel number Input voltage U E max + V to V (+ V to V measurable) Input resistance R E kω ± % Resolution mv Non-linearity <. % Calibration tolerance ) max. mv (with factory settings) Current inputs Channel number Input current I E ma to ma Input resistance R E Ω at C ( Ω measuring resistance) Leakage current I V. to. % (at Ω between pin or pin (Cin+ or Cin+) and A Resolution µa Voltage supply for analog sensors U U B at XA, (+ Vsens) via the VT-HNC-C-X Analog outputs (AO): Voltage outputs Channel number Output voltage U nom V to + V (max.. V to +. V) Output current I max ± ma Load R min kω Resolution. mv Non-linearity In the range. V to +. V <, % In the range V to. V and +. V to + V <, % ) If a V transducer supply is implemented directly via the VT-HNC...X (supply voltage is looped in), the transducer specification has to be observed. ) If the factory settings are insufficient, the measurement technology can be calibrated on site via software in a system-specific way.

9 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / Technical data VT-HNC-C-X (Compact) continued Gate inputs (DI) Quantity Logic level log (low) V; log (high) V to U B, I e = ma at U B = V Port Flexible conductor up to. mm Gate outputs (DO) Quantity Logic level log (low) V; log (high) U B ; I max = ma, Maximum load capacity C =. µf Port Flexible conductor up to. mm Reference potential for all signals D Digital position transducers (s): I transducer (Due to the higher control quality, an I transducer with clock synchronization should be used.) Coding Gray-Code Data width Adjustable up to max. Bit Line receiver / line driver R Voltage supply via the VT-HNC-C-X U U B Reference potential for all signals E Dimensions ee page Assembly Top hat rail TH -. or TH - according to EN Admissible operating temperature range ϑ to C torage temperature range ϑ to + C Protection class according to EN : IP Weight: m g CE conformity ee page Further technical details upon request. Note: Information on the environment simulation testing for the areas EMC (electromagnetic compatibility), climate and mechanical load see data sheet -U.

10 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. Technical data VT-HNC-...-X (CPU + axis electronics) Operating voltage ) U B to VDC, residual ripple <. V pp Current consumption at VDC I to A (depending on the HNC variant and the additionally supplied components) Processor bit power PC Interface for WIN-PED interface for WIN-PED R R, optional TCP/IP Bus interface PROFIBU DP (max. MBaud according to IEC ), CANopen, PROFINET RT, EtherNet/IP PROFINET RT, EtherNet/IP Minimum cycle time ms Max. size of the cyclic I/O data byte (max. byte per direction) Transmission rate Mbit/s, full-duplex Analog inputs (AI) per axis electronics: Voltage inputs (differential inputs) Channel number Input voltage U E max + V to V (+ V to V measurable) Input resistance R E kω ± % Resolution mv Non-linearity <. % Calibration tolerance ) max. mv (with factory settings) Current inputs Channel number Input current I E ma to ma Input resistance R E Ω at C ( Ω measuring resistance) Leakage current I V. to. % Resolution µa Voltage supply for analog sensors U U B at XA to XA, (+ Vsens) via the VT-HNC...X Analog outputs (AO) per axis electronics: ) () Non-linearity In the range. V to +. V <. % In the range V to. V and +. V to + V <. % Voltage output Output voltage U nom V to + V (max.. V to +. V) Output current I max ± ma Load R min kω Residual ripple ± mv (without noise) Resolution. mv Current output Output current tandardized I nom ma to ma Load R max Ω Resolution, μa ) If a V transducer supply is implemented directly via the VT-HNC...X (supply voltage is looped in), the transducer specification has to be observed. ) If the factory settings are insufficient, the measurement technology can be calibrated on site via software in a system-specific way. ) Configurable as current or voltage output. Axis electronics slot and axis electronics slot have two voltage outputs Vout and Vout. The axis electronics slot and slot only have one voltage output Vout.

11 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / Technical data VT-HNC-...-X (CPU + axis electronics), continued Gate inputs (DI) or outputs (DO) per axis electronics (settable via software) Quantity ) Gate inputs (DI) Logic level log (low) V; log (high) V to U B, I e = ma at U B = V Port Flexible conductor up to. mm Gate outputs (DO) Logic level log (low) V; log (high) U B ; I max = ma, Maximum load capacity C =. µf Port Flexible conductor up to. mm Reference potential for all signals D Digital position transducers () per axis electronics: Incremental transducer (transducer with TTL output) Input voltage log to V log. to. V Input current log. ma (with V) log. ma (with V) Max. frequency referring to Ua f max khz Voltage supply for incremental U. V ± %, max. ma total current across all axes Transducer via the VT-HNC...X at XM to XM, pin (+ Venc) I transducer (Due to the higher control quality, an I transducer with clock synchronization should be used.) Coding Gray-Code Data width Adjustable up to max. Bit Line receiver / line driver R Voltage supply for I s U U B at XM to XM, pin (+ Venc) via the VT-HNC...X Reference potential for all signals E Reference voltage per axis electronics U ref + V ± mv ( ma) Dimensions ee page Assembly Top hat rail TH -. or TH - according to EN Admissible operating temperature range ϑ to C torage temperature range ϑ to + C Protection class according to EN : IP Weight: VT-HNC--X VT-HNC--X VT-HNC--X VT-HNC--X with Ethernet m m m m m g g g g g more CE conformity ee page Further technical details upon request. ) Maximally, digital outputs can be connected Note: Information on the environment simulation testing for the areas EMC (electromagnetic compatibility), climate and mechanical load see data sheet -U.

12 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. out VT-HNC-C-X/... (Compact) XM Encoder shield Venc + V Clk + Clk Data + Data E XD DIO (digital) shield OUT OUT IN IN IN IN D XA AIO (analog) shield Vsens Vout + Vout + Vin Cin + Cin + A XM on DIO XD -V AIO XA power.v RUN BU XC address baudrate X R DP/CANopen XP/C HNC XC R TxD RxD reserved reserved reserved reserved X Power V XP PROFIBU DP reserved reserved RxD/TxD-P CNTR-P D VP reserved RxD/TxD-N reserved XC CANopen reserved CAN_L CAN_ reserved reserved reserved CAN_H reserved reserved Note: The pins marked with reserved are reserved and must not be wired.

13 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / out VT-HNC--X/... (-axis version) XC R TxD RxD reserved reserved reserved reserved X Power V XE, XE Ethernet connection XP PROFIBU DP reserved reserved RxD/TxD-P CNTR-P D VP reserved RxD/TxD-N reserved XC CANopen reserved CAN_L CAN_ reserved reserved reserved CAN_H reserved reserved lot XM XE XE M DP/CANopen R XP/C power CPU XA slot N XC XM o n L L -V X.V RUN BU XD address baudrate Encoder Incremental I B (Inc) + CLK (I) + R (Inc) R (Inc) + A (Inc) A (Inc) CLK (I) + B (Inc) Data (I) E + Data (I) + Venc + Vref +Venc reserved HNC lot XD DIO (digital) I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O D lot XA AIO (analog) Vin + Vin Vin + Vin Cin + Cin Cin + Cin reserved A Vout + Vout + Cout + Vsens reserved Note: The pins marked with reserved are reserved and must not be wired.

14 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. out VT-HNC--X/... (-axis version) XC R TxD RxD reserved reserved reserved reserved X Power V XE, XE Ethernet connection XP PROFIBU DP reserved reserved RxD/TxD-P CNTR-P D VP reserved RxD/TxD-N reserved XC CANopen reserved CAN_L CAN_ reserved reserved reserved CAN_H reserved reserved lot XM Encoder lot XM Incremental I B (Inc) + CLK (I) + R (Inc) R (Inc) + A (Inc) A (Inc) CLK (I) + B (Inc) Data (I) E + Data (I) + Venc + Vref +Venc reserved XE XE M N L L DP/CANopen R -V XC o n address baudrate XP/C power.v RUN BU CPU X XM XD XA slot XM XD XA slot HNC lot XD lot XD DIO ) (digital) I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O D lot XA lot XA AIO (analog) Vin + Vin Vin + Vin Cin + Cin Cin + Cin reserved A Vout + Vout + Cout + Vsens reserved ) Maximally, digital outputs can be connected. Note: The pins marked with reserved are reserved and must not be wired.

15 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / out VT-HNC--X/... (-axis version) XC R TxD RxD reserved reserved reserved reserved X Power V XE, XE Ethernet connection XP PROFIBU DP reserved reserved RxD/TxD-P CNTR-P D VP reserved RxD/TxD-N reserved XC CANopen reserved CAN_L CAN_ reserved reserved reserved CAN_H reserved reserved XE XE lot XM lot XM lot XM M N L L DP/CANopen R -V XC o n address baudrate XP/C power.v RUN BU Incremental CPU X XM XD XA Encoder slot I B (Inc) + CLK (I) + R (Inc) R (Inc) + A (Inc) A (Inc) CLK (I) + B (Inc) Data (I) E + Data (I) + Venc + Vref +Venc Reserved XM XD XA slot XM XD XA slot HNC lot XD lot XD lot XD DIO ) (digital) I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O D lot XA lot XA lot XA AIO (analog) Vin + Vin Vin + Vin Cin + Cin Cin + Cin reserved A Vout + Vout + ) Cout + Vsens reserved ) Maximally, digital outputs can be connected. ) Not available with slot (reserved) Note: The pins marked with reserved are reserved and must not be wired.

16 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. out VT-HNC--X/... (-axis version) XC R TxD RxD reserved reserved reserved reserved X Power V lot XM Encoder lot XM lot XM lot XM Incremental I B (Inc) + CLK (I) + R (Inc) R (Inc) + A (Inc) A (Inc) CLK (I) + B (Inc) Data (I) E + Data (I) + Venc + Vref +Venc reserved lot XD lot XD lot XD lot XD DIO ) (digital) I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O D lot XA lot XA lot XA lot XA AIO (analog) Vin + Vin Vin + Vin Cin + Cin Cin + Cin reserved A Vout + Vout + ) Cout + Vsens reserved XE, XE Ethernet connection CPU slot slot slot slot XP PROFIBU DP reserved reserved RxD/TxD-P CNTR-P D VP reserved RxD/TxD-N reserved XC CANopen reserved CAN_L CAN_ reserved reserved reserved CAN_H reserved reserved XE XE M N L L DP/CANopen R -V XC o n address baudrate XP/C power.v RUN BU X XM XD XA XM XD XA XM XD XA XM XD XA HNC ) Maximally, digital outputs can be connected. ) Not available with slot and slot (reserved) Note: The pins marked with reserved are reserved and must not be wired.

17 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / Unit dimensions VT-HNC-C-X/ (dimensions in mm) Installation on top hat rail TH -. or TH - according to EN R XM DIO XC XD -V power X AIO.V RUN BU DP/CANopen XA XP/C HNC, Unit dimensions of all axis versions (dimensions in mm) () (VT-HNC--X/...) () (VT-HNC--X/...) () (VT-HNC--X/...) () (VT-HNC--X/...) Dimensions in ( ) apply for PROFINET RT version, EtherNet/IP version or TCP/IP version Installation on top hat rail TH -. or TH - according to EN CPU slot slot slot slot XE XE M DP/CANopen R power AIO N XC XM L L -V X.V RUN BU XD AIO XM XD AIO XM XD AIO XM XD XP/C XA XA XA XA, HNC

18 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. Project Planning / Maintenance Instructions / Additional Information Product documentation for VT-HNC...X Product information Data sheet Operating instructions -B Declaration on environmental compatibility -U WIN-PED / WIN-PED First steps Online help Machine data NC commands Parameter CANopen (only with WIN-PED ) PROFIBU DP (PROFIBU DP with TCP/IP only with WIN-PED ) PROFINET RT (only with WIN-PED ) EtherNet/IP (only with WIN-PED ) General Information on the maintenance and commissioning of hydraulic components / Commissioning software and documentation on the Internet: Maintenance instructions: The devices have been tested in the plant and are supplied with default settings. Only complete units can be repaired. The repaired units will be supplied with default settings. User-specific settings are not maintained. The operator will have to re-transfer the corresponding user parameters and programs. Notes: Electric signals taken out via control electronics (e.g. signal No error ) may not be used for the actuation of safety-relevant machine functions. (ee also the European standard afety requirements for fluid power systems and their components - Hydraulics, EN.) If electromagnetic interference must be expected, take appropriate measures to safeguard the function (depending on the application, e.g. screening, filtration). Wiring information Largest spatial separation of signal and load lines possible Don't lead signal lines through magnetic fields If possibly, lay signal lines without intermediate terminals. Don't lay signal lines parallely to load lines For more information refer to the WIN-PED and WIN-PED online help and the -B operating instructions The upper and lower ventilation slots must not be concealed by adjacent units in order to provide for sufficient cooling.

19 RE /. VT-HNC...X Hydraulics Bosch Rexroth AG / Notes

20 / Bosch Rexroth AG Hydraulics VT-HNC...X RE /. Notes Bosch Rexroth AG Hydraulics Zum Eisengießer Lohr am Main, Germany Phone + () / - documentation@boschrexroth.de This document, as well as the data, specifications and other information 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 statements concerning a certain condition or suitability for a certain application 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.