Preliminary Product Documentation EV2S-CAN Electronic Amplifier

Transcription

1 Preliminary Product Documentation EV2S-CAN Electronic Amplifier Revision: 1.1 [a087005] 1 Date:

2 Page 2 Copyright All rights reserved. No parts of this work may be reproduced in any form or by any means - graphic, electronic, or mechanical, including photocopying, recording, taping, or information storage and retrieval systems - without the written permission of the publisher. Products that are referred to in this document may be either trademarks and/or registered trademarks of the respective owners. The publisher and the author make no claim to these trademarks. While every precaution has been taken in the preparation of this document, the publisher and the author assume no responsibility for errors or omissions, or for damages resulting from the use of information contained in this document or from the use of programs and source code that may accompany it. In no event shall the publisher and the author be liable for any loss of profit or any other commercial damage caused or alleged to have been caused directly or indirectly by this document. All rights reserved. Printdate: January 22, 2016

3 Page 3 Contents 1 General information Scope of this Document Hazard Symbols and Notes Liability Transport and Storage Technical information Technical Data General Electrical Parameters Environmental and Operating Conditions Electrical Wiring Analog Inputs Analog Input Analog Input Analog Input Signals Working with the EV2S-CAN LEDs, buttons and display Display Menu General Typical use cases Menus Error Codes Error 10/20: AI1/AI2, cable break Error 11/21: AI1/AI2, short circuit Error 12/22: AI1/AI2, middle position error Error 13: AI1, current overload Error 30/40: Out1/Out2, cable break Error 31/41: Out1/Out2, short circuit Error 32/42: Out1/Out2, controller out of range Error 56: CAN-Bus setpoint timeout Error 57: CAN-Bus startup missing Error 58: CAN-Bus, state warning Error 59: CAN-Bus, state off Error 60: Temperature warning Error 61: Temperature shutdown Error 70: invalid device type

4 Page Error 80: Power supply too high Error 81: Power supply too low First start up Initialization HAWE VisualTool CAN-Bus mode - user parameter Device type - user parameter EDS-file CAN-Bus Hardware CAN Bus Baud Rate CAN Bus Termination Line Layout and Net Topology Protocol Philosophies Overview J CANopen CAN Basics Telegram Addressing Data Formats EV2S-CAN basics CANopen General information RXPDOs, TXPDOs CANopen Default Identifier Distribution CAN-Bus load and filtering Device type configuration TxPDO1 Description TxPDO2 Description Generating Setpoints Additional Features J Generating Setpoints Firmware Update 59 Suggestions for improvement 60 Bibliography 61 Glossary 62 Index 69

5 Page 5 List of Figures 1.1 EV2S-CAN: intelligent valve amplifier Interpretation of a 0-10V input signal for single coil applications Interpretation of a 4-20mA input signal for single coil applications Interpretation of a 0-10V input signal for twin coil applications Interpretation of a 4-20mA input signal for twin coil applications Interpretation of a PWM input signal for single coil applications Interpretation of a PWM input signal for twin coil applications Interpretation of a ±10V input signal for twin coil applications Interpretation of ratiometric to VCC input signal for twin coil applications Interpretation of a 0-5V input signal for twin coil applications Overview of the buttons Navigate inside a menu/change parameter values: UP/DOWN Navigate inside a menu: OK/BACK How to read numbers How to change values Start with idle menu Changing the CAN-ID: Jump from idle to main menu Changing the CAN-ID: Jump from main to configuration menu Changing the CAN-ID: Jump into configuration menu Changing the CAN-ID: Choose CAN-Bus configuration Changing the CAN-ID: Jump into CAN-Bus configuration Changing the CAN-ID: Jump to CAN-ID Changing the CAN-ID: Step into parameter to set CAN-ID Set up a rising ramp to output 1: Jump from idle to main menu Set up a rising ramp to output 1: Jump to proportional output menu Set up a rising ramp to output 1: Choose proportional output 1 menu Set up a rising ramp to output 1: Jump into proportional output one menu Set up a rising ramp to output 1: Jump to ramp up parameter for output one - press 3 times the UP button Set up a rising ramp to output 1: Start changing the value of the ramp up parameter Set up a rising ramp to output 1: Change Thousands digit from zero to one Set up a rising ramp to output 1: Jump to hundreds digit to check value is zero Set up a rising ramp to output 1: Jump to tens digit to check value is zero Set up a rising ramp to output 1: Jump to ones digit to check value is zero Set up a rising ramp to output 1: Jump back from changing the value Recommended Architecture for Grounding and Shielding of CAN Bus Systems

6 List of Tables Page 6 List of Tables 1.1 Symbols Electrical Parameters Electrical Parameters CAN Interface Operating Conditions and Environmental Checks Electrical wiring overview Input signal 0-10V explanations for single coils Input signal 4-20mA explanations for single coils Input signal 0-10V explanations for twin coils Input signal 4-20mA explanations for twin coils Input signal PWM explanations for single coils Input signal PWM explanations for twin coils Input signal ±10V explanations for twin coils Input signal ratiometric to UB explanations for twin coils Input signal 0-5V explanations for twin coils Main menu items Data menu items Proportional output menu items Dither frequency Analog input menu items Configuration menu items Error codes for the EV2S-CAN Getting started, possible input signals Getting started, predefined valves Set up EV2S-CAN via HAWE Visual Tool: Changing the predefined type Recommended Bus Line Length Limits CAN Data Frame CANopen Default Identifier Distribution Overview supported CANopen telegrams TxPDO1 Overview TxPDO2 Overview RxPDO2 PSL-CAN-mode error codes

7 Page 7 1 General information This document serves as an addition to the brochure D7818 [4] and describes the electronic amplifier EV2S-CAN for proportional valves. It is targeted at programmers as well as electricians to supply information for programming or commissioning. 1.1 Scope of this Document With the help of this documentation fast commissioning and the development of ECU software should be possible. Users of the electronic amplifier EV2S-CAN get presented all essential device properties. Figure 1.1: EV2S-CAN: intelligent valve amplifier As far as necessary basics of CAN technology will be explained. For detailed information about the function of CAN networks or components please refer to literature like [8], [10] or [6].

8 1 General information Page Hazard Symbols and Notes Please pay attention to the hazard symbols and notes given in table 1.1. Text passages marked with those symbols have increased significance. Symbol Meaning Potential consequences Impending danger Death or severe injuries Dangerous situation Light injuries Harmful situation Damage to components Tips & information Fun at work Table 1.1: Symbols 1.3 Liability This description is an integral part of the device. It contains information concerning the correct handling of electronic amplifier EV2S-CAN and must be read prior to installation or use. WARNING Non-compliance with the notes or any use outside the intended usage outlined in the following, wrong installation or faulty handling can seriously impair and endanger the safety of people and machinery and will result in the exclusion of any liability and warranty claims. Follow the instructions in the description. The manufacturer of the complete system who selects hydraulic components is responsible for choosing an adequate combination of products and assuring that all performance and safety requirements of the application are met. HAWE Hydraulik SE reserves the right to alter its products without prior notice. This also applies to products already ordered provided that such alterations can be made without subsequent changes being necessary in specifications already agreed.

9 1 General information Page 9 This manual is aimed at all those persons who can be regarded as competent in the understanding of the EMC- and the low-voltage guideline. The wiring of the valves must be performed by an electrician and must be activated by trained programmers and/or service technicians. WARNING System integrators are responsible for the correct integration of all hardware and software components. Furthermore, it is up to the user to comply with the standards (e.g. DIN EN ISO 13849) relevant for his usage and to realize a system architecture appropriate to the safety requirement. NOTE Monitor and feedback signal processed by integral electronics must not be used for safety machine relevant function. HAWE Hydraulik accepts no liability in case of technical or typographical defects in this manual. HAWE Hydraulik accepts no liability for damage caused by any kind of delivery, performance or usage of the product. Usage names, trade names and trade marks are usually registered and protected names or characters, which are subject to statutory provisions. 1.4 Transport and Storage As with hydraulic components, care should be given to appropriate storage and suitable packaging of the product. There are no special requirements arising from the combination of control electronics and valve. NOTE The plastic connector socket can only carry a limited mechanical load and is not suited for the use as handle! The socket might brake from the bank.

10 1 General information Page 10 Don t use the connector socket as handle. - The valves should not be mounted in the vicinity of machine parts and modules developing great heat (e.g. exhaust). - The distance to radio-emitting installations must be sufficient. - There must be an emergency shutdown for the voltage supply. The emergency off switch must be mounted on the machine or vehicle that is easily accessible for the machine or facility operator. The machine or vehicle manufacturer must guarantee that a safe state is achieved when the emergency off switch is activated. - The power supply must be fuse-protected, in accordance with the maximum power consumption of the amplifier. - Ground lines must be dimensioned in accordance with the maximum currents flowing through them. The reference potential for all CAN bus participants connected to one branch should vary as little as possible between the devices and be identical with the ground connection for the power supply. - All connectors used for joining the amplifier must be properly secured against water penetration by applying all necessary gaskets and seals. - The bus lines to be used must be suited to CAN bus networks. Preferably the lines should be twisted and shielded. The characteristic impedance must be approx. 120 Ω. - Terminating resistors with 120 Ω have to be provided for both two ends of a CAN bus network. - During installation and storage the amplifier must remain at a sufficient distance to strong sources of magnetic fields (static or time varying). - In case of parameter changes the enduser is responsible for the consistency of the transmitted data. Not in any case the valve electronics can detect inconsistent parameters which might cause undefined behavior. WARNING Electric welding causes massive surges. Electronics can be damaged. All valve nodes must be disconnected during electric welding works. The following has to be observed during operations:

11 1 General information Page 11 - Proper operation is only guaranteed in a temperature range between -40 C to +80 C. - If the device detects internal overheating, operations are limited to a certain temperature range, i.e. at reduced performance. - The power supply voltage must be within the specified working range. Excessive or permanent deviations may damage the electronics.

12 Page 12 2 Technical information The EV2S-CAN amplifier is currently available in different configurations. The following configurations are possible: - EV2S-CAN-G-M: M12 Connector without cable, twin-coil solenoid - EV2S-CAN-G-L3K: 3 meters cable, twin coil solenoid - EV2S-CAN-DG-L3K: 3 meters cable, two single coil solenoids 2.1 Technical Data General Proportional valves serve hydraulic consumers. In this way several hydraulic actuators may be moved simultaneously, independently from one other at different velocities and pressures. This applies as long as the sum required for the partial flows is within the total delivery supplied by the pump and the pump can supply the pressure levels required for operating all consumers. Advantages of the electronic amplifier EV2S-CAN are as follows: - Simplified wiring with CAN-Bus interface - Analog and digital setpoints possible - Configuration via software and seven-segment display - Pre-configured types for quick commissioning - Diagnostic facility (temperature, runtime, fault detection) - Single- and twin-coil support - Diagnostic LEDs and integrated 7-segment display

13 2 Technical information Page Electrical Parameters Tables 2.1 and 2.2 provide an overview of electrical parameters and their limit values for the valve driver and its CAN interface. Parameter Sym. Min Max Unit Comment Supply voltage U B 8 32 V Maximum spool current is limited to its resistance. Current consumption I B A Current consumption depends on supply voltage, elevated maximum currents are also possible (startup moment). Power consumption P B 1 20 W Valid for normal operation. During start-up higher values and for short time overloads might occur. Table 2.1: Electrical Parameters For detailed information concerning CAN interface please refer to section 4.1. Parameter Symbol Value range Output voltage, bus supply V DD 5 V Transfer rate f bit 10k - 1Mbit/s Slew rate SR 5 V/µs Table 2.2: Electrical Parameters CAN Interface Environmental and Operating Conditions Table 2.3 provides an overview of the operating conditions for which qualification tests had been carried out. The electronic amplifier EV2S-CAN is IP65 (IEC 60529) rated.

14 2 Technical information Page 14 Test criterion Industrial standard Comment EMC emission for residential, EN commercial and light- industrial environments EMC immunity for industrial EN environments Electrostatic discharge immunity EN criteria A Radiated, radio-frequency, EN criteria A electromagnetic field immunity Electrical fast transient / EN criteria B burst immunity Surge immunity EN criteria A Immunity to conducted disturbances, EN criteria A inducted by radio-frequency fields Power frequency magnetic EN field immunity Table 2.3: Operating Conditions and Environmental Checks INFORMATION The electronic amplifier EV2S-CAN can be operated in an ambient temperature range between -40 C to +80 C. As high temperatures accelerate the aging of electronic components, it is recommended to maintain sufficient distance to heat sources when installing these components and to avoid exposure to heat. In addition, the basic rules for hydraulic components as specified in [4] must be observed, in particular those measures aimed at limiting maximum oil temperature. 2.2 Electrical Wiring The electronic amplifier EV2S-CAN has five connection pins, that are used for communication, setpoints and the power supply. It is available with an M-12 connector (A-Coding) and with a fixed cable of 3 meter length for twin or single coils. The following table 2.4 shows the important signals. The pin numbers are equal to the wire number.

15 2 Technical information Page 15 Pin number Signal Comment 1 UB Power Supply + 2 PGND / AI1GND Power Supply -, Analog Input 1-3 AI1 Analog Input 1 4 AI2 / CAN-H Analog Input 2, CAN-Bus-High 5 AI2GND / CAN-L Analog Input 2 -, CAN-Bus-Low Table 2.4: Electrical wiring overview There are two analog inputs. Analog Input 1 features many signals, e.g. 4-20mA, PWMsignals, ratiometric signals to the power supply voltage and also voltage inputs like 0-5V or 0-10V. Analog input 2 is able to measure also negative input voltages, e.g. ±10V. It is able to do a differential measurement, between its inputs. So high current on the ground line has no influence to the input signal. This is important, when a voltage is used for the input signal. Before using the EV2S-CAN for the first time, the power supply should be connected. 2.3 Analog Inputs The EV2S-CAN offers up to two analog inputs depending on the used configuration. The following chapter will describe the behavior of these inputs. Both inputs are measured with an high resolution 12bit-Analog-Digital-Converter Analog Input 1 The first analog input measures a signal between input pin 3 ( analog input 1 ) and pin 2 ( ground ). It is possible to use voltage, current and frequency signals. If voltage input signals are used, high current flows over the ground line can effect the measured signal! The other possible input signals are not influenced. The decision, which type of signal is used, can be made via parameter change or by using the buttons and the display. The input impedance is about 36kΩ for voltage or frequency signals which are not higher than 10V, and about 24kΩ for higher signals. The current input has a 220Ω shunt-resistor to measure up to 22mA. Internal components protect the input against negative as to high voltages Analog Input 2 The second analog input measures a signal between input pin 4 ( analog input 2 ) and pin 5 ( analog input 2 ground ). It is only possible to use voltage signals. The analog input ground helps to do a differential measuring to be minimize the influences from high current flow over the ground line. It can also measure negative input voltages up to -11V. The input impedance is about 24kΩ. Internal components protect this input against false connections or illegal applications.

16 2 Technical information Page Analog Input Signals The electronic amplifier EV2S-CAN can handle a lot of different input signals. The following section will describe the analog signals. All signals are internally calculated into a setpoint for the output current. Also safety limits are applied to get more information about the inputs. E.g. to detect possible cable breaks or short circuits. If you choose an input signal via initialization process or later via parameter change, the amplifier changes all necessary parameters to the default values, which are mentioned below. It is also possible to change these parameters to adjust it to the specific application. The EV2S-CAN can handle setpoints from permille for single coils and to permille for twin coils. Input Signal 0-10V for single coils The 0-10V input signal is a very common control signal. The picture explains the behavior for single coil applications. This mapping is valid for analog input one and two. Figure 2.1: Interpretation of a 0-10V input signal for single coil applications Physical signal in V setpoint in permille Comment <0.5 0 Error bottom - cable break detection >11 0 Error top - short circuit detection Table 2.5: Input signal 0-10V explanations for single coils Input Signal 4-20mA for single coils The 4-20mA input signal is another common control signal. The picture explains the behavior for single coil applications. This mapping is valid for analog input one only.

17 2 Technical information Page 17 Figure 2.2: Interpretation of a 4-20mA input signal for single coil applications Physical signal in ma setpoint in permille Comment <2 0 Error bottom - cable break detection >24 0 Error top - short circuit detection Table 2.6: Input signal 4-20mA explanations for single coils Input Signal 0-10V for twin coils The 0-10V input signal can also be used to control twin coils. Before the EV2S-CAN reacts to a setpoint it is necessary to apply a zero-setpoint signal to the input. In this mode it means a voltage signal between 4.5V and 5.5V. This mapping is valid for analog input one and two. Figure 2.3: Interpretation of a 0-10V input signal for twin coil applications Physical signal in V setpoint in permille Comment <0.5 0 Error bottom - cable break detection >11 0 Error top - short circuit detection Table 2.7: Input signal 0-10V explanations for twin coils

18 2 Technical information Page 18 Input Signal 4-20mA for twin coils The 4-20mA input signal can also be used to control twin coils. Before the EV2S-CAN reacts to a setpoint it is necessary to apply a zero-setpoint signal to the input. In this mode it means a current signal between 11.5mA and 12.5mA. This mapping is valid for analog input one only. Figure 2.4: Interpretation of a 4-20mA input signal for twin coil applications Physical signal in ma setpoint in permille Comment <2 0 Error bottom - cable break detection >24 0 Error top - short circuit detection Table 2.8: Input signal 4-20mA explanations for twin coils Input Signal PWM for single coils The PWM (pulse-width-modulated) input signal is another common control signal. The picture explains the behavior for single coil applications. For a proper detection of the duty cycle of the incoming PWM signal. The signal frequency should be lower than 2,5kHz and higher than 100Hz. This mapping is valid for analog input one only. Figure 2.5: Interpretation of a PWM input signal for single coil applications

19 2 Technical information Page 19 Duty cycle in percent setpoint in permille Comment <3 0 Error bottom - cable break detection >97 0 Error top - short circuit detection Table 2.9: Input signal PWM explanations for single coils Input Signal PWM for twin coils The PWM input signal can also be used to control twin coils. For a proper detection of the duty cycle of the incoming PWM signal. The signal frequency should be lower than 2,5kHz and higher than 100Hz. Before the EV2S-CAN reacts to a setpoint it is necessary to apply a zero-setpoint signal to the input. In this mode it means a PWM signal duty cycle between 45% and 55%. This mapping is valid for analog input one only. Figure 2.6: Interpretation of a PWM input signal for twin coil applications Duty cycle in percent setpoint in permille Comment <3 0 Error bottom - cable break detection >97 0 Error top - short circuit detection Table 2.10: Input signal PWM explanations for twin coils Input Signal ±10V for twin coils The ±10V input signal can also be used to control twin coils. It is a common signal, used in the non-moving industry. Before the EV2S-CAN reacts to a setpoint it is necessary to apply a zero-setpoint signal to the input. In this mode it means a PWM signal duty cycle between -1V and +1V. This mapping is valid for analog input two only.

20 2 Technical information Page 20 Figure 2.7: Interpretation of a ±10V input signal for twin coil applications Physical signal in V setpoint in permille Comment <-11 0 Error bottom - cable break detection >11 0 Error top - short circuit detection Table 2.11: Input signal ±10V explanations for twin coils Input Signal ratiometric to VCC for twin coils The ratiometric to VCC input signal can also be used to control twin coils. Before the EV2S-CAN reacts to a setpoint it is necessary to apply a zero-setpoint signal to the input. In this mode it means a PWM signal duty cycle between 45 % of VCC V and 55 % of VCC. This mapping is valid for analog input one only. Figure 2.8: Interpretation of ratiometric to VCC input signal for twin coil applications Percent of UB setpoint in permille Comment <10 0 Error bottom - cable break detection >85 0 Error top - short circuit detection Table 2.12: Input signal ratiometric to UB explanations for twin coils

21 2 Technical information Page 21 Input Signal 0-5V for twin coils The 0-5V input signal can also be used to control twin coils. Before the EV2S-CAN reacts to a setpoint it is necessary to apply a zero-setpoint signal to the input. In this mode it means a voltage signal between 2.25V and 2.75V. This mapping is valid for analog input one and two. Figure 2.9: Interpretation of a 0-5V input signal for twin coil applications Physical signal in V setpoint in permille Comment < Error bottom - cable break detection >5.5 0 Error top - short circuit detection Table 2.13: Input signal 0-5V explanations for twin coils

22 Page 22 3 Working with the EV2S-CAN 3.1 LEDs, buttons and display After powering up the electronic amplifier EV2S-CAN, there are four LEDs to show the actual state of the electronics. - Green Power LED in the lower right corner - Red Error LED in the upper right corner - Green Direction A LED in the lower left corner - Orange Direction B LED in the upper left corner The electronic amplifier EV2S-CAN uses three integrated buttons to navigate through the menu shown on the 7-segment display. - UP button - on the upper side - DOWN button - on the lower side - OK/BACK button on the right side Figure 3.1: Overview of the buttons UP / DOWN The UP and DOWN buttons are used as well to navigate through the menu as to change values of parameters directly on the amplifier. A simple push on the UP button increases a value of a parameter or shows the next menu item. If the user presses and holds the button, the value will increase in single steps until the button is released or the maximum value is reached. The same behavior us used by the DOWN button.

23 3 Working with the EV2S-CAN Page 23 OK/BACK The OK button is only used to navigate in the menu. If the user pushes the button the next menu is shown. If the user presses and holds the OK button, the previous menu is shown. That is the BACK action. The integrated display is a two digit, seven segment LED display. It is used to show or change parameters, to read actual values during operation and to be independent from a computer.

24 3 Working with the EV2S-CAN Page Display Menu The integrated display shows internal settings, saved data and special events like error codes. Together with the buttons, a easy-to-use menu is implemented. The following chapter will explain this menu in detail General Navigation The navigation inside the menu is quite simple. The UP and DOWN button are used to jump to the next item of the actual menu. The OK button is used to step into the actual displayed item or to step back to previous menu. The following figures show the handling with the EV2S-CAN. Figure 3.2: Navigate inside a menu/change parameter values: UP/DOWN Figure 3.3: Navigate inside a menu: OK/BACK

25 3 Working with the EV2S-CAN Page 25 How to read/change values The integrated display is able to show up to two digits at once. If the value, that should be displayed is higher than 99, the value is split into four parts: - Thousands digit - Hundreds digit - Tens digit - Ones digit The following example will explain an example. The value to be shown is Figure 3.4: How to read numbers Every digit can be changed by using the UP and DOWN button. The following picture explains the behavior. Figure 3.5: How to change values

26 3 Working with the EV2S-CAN Page 26 Idle mode After powering up the EV2S-CAN, the idle menu is shown. There are different options, which can be displayed. - One blinking dot, if everything is normal - Actual Error Codes - Initialization menu, if the device has not been initialized before Starting from this point, the main menu can be reached by following the next illustration. It is necessary, that the device has been initialized correct before. Figure 3.6: Start with idle menu Typical use cases This chapter explains in easy steps, how to change typical parameters of the EV2S-CAN amplifier.

27 3 Working with the EV2S-CAN Page 27 Changing the CAN-ID In default, the CAN-ID is set to 126. The possible values are 1 to 127. The CAN-ID 127 is often used as default for CAN-masters and is therefor not recommended for the EV2S-CAN. Especially if it is used as a CAN-slave. The following steps have to be done, to reach the right menu to change the CAN-ID starting from idle mode: Figure 3.7: Changing the CAN-ID: Jump from idle to main menu Figure 3.8: Changing the CAN-ID: Jump from main to configuration menu Figure 3.9: Changing the CAN-ID: Jump into configuration menu Figure 3.10: Changing the CAN-ID: Choose CAN-Bus configuration

28 3 Working with the EV2S-CAN Page 28 Figure 3.11: Changing the CAN-ID: Jump into CAN-Bus configuration Figure 3.12: Changing the CAN-ID: Jump to CAN-ID Figure 3.13: Changing the CAN-ID: Step into parameter to set CAN-ID The CAN-ID is valid in the range from 1 to 127. The default value is 126. In picture 3.4 is shwon, how to read and change the numbers.

29 3 Working with the EV2S-CAN Page 29 Set up ramps for an output In default, there are no ramps configured for the proportional outputs of the EV2S-CAN. The following steps will describe the implementation for a rising ramp of ten seconds to the output one. The starting point supposes that there is no ramp configured. The value of the ramp parameter has to be set in 1/100 seconds, for a 10 second ramp, the value has to be set to The new parameter is working without any confirmation immediately after changing. So the setpoint for this output one should be 0 during the change-process! To set up a ramp to the falling setpoint, the steps are almost the same, expect from step Instead of menu item ru the item rd has to be chosen. This is possible by pressing the UP button four time instead of three times. Figure 3.14: Set up a rising ramp to output 1: Jump from idle to main menu Figure 3.15: Set up a rising ramp to output 1: Jump to proportional output menu Figure 3.16: Set up a rising ramp to output 1: Choose proportional output 1 menu

30 3 Working with the EV2S-CAN Page 30 Figure 3.17: Set up a rising ramp to output 1: Jump into proportional output one menu Figure 3.18: Set up a rising ramp to output 1: Jump to ramp up parameter for output one - press 3 times the UP button Figure 3.19: Set up a rising ramp to output 1: Start changing the value of the ramp up parameter Figure 3.20: Set up a rising ramp to output 1: Change Thousands digit from zero to one

31 3 Working with the EV2S-CAN Page 31 Figure 3.21: Set up a rising ramp to output 1: Jump to hundreds digit to check value is zero Figure 3.22: Set up a rising ramp to output 1: Jump to tens digit to check value is zero Figure 3.23: Set up a rising ramp to output 1: Jump to ones digit to check value is zero Figure 3.24: Set up a rising ramp to output 1: Jump back from changing the value In the default setting, no ramps are activated.

32 3 Working with the EV2S-CAN Page 32 Overview The main menu consists of four parts. The data menu is shown first. To step into a menu, just press the OK button once. - C... configuration menu - A... analog input menu - P... proportional output menu - d... data menu Menus The following tables show all menu items, that are implemented. For each item, a quick description can be found in this chapter. Main menu The main menu is shown, after leaving from idle mode by pressing a button. The first item is the data menu. Menu item Configuration C Analog input A Proportional output P Data d Description Other configuration like CAN-Bus, password etc. Parameters for the analog inputs Parameters for the outputs General information like serial number, supply voltage, temperature etc. Table 3.1: Main menu items zero Data menu Menu item Actual setpoint AS Information In Runtime rt Power supply Ub Temperature te Description Shows the actual setpoint from 0 to 99 in percent Shows the serial number sn, internal material number tn, software S0 and hardware version ha Shows two values: time since reset rr, overall running hours rh Shows the power supply voltage in volts Shows the temperature in the range 0-99 C Table 3.2: Data menu items

33 3 Working with the EV2S-CAN Page 33 Proportional Output menu The output menu is divided into output 1 P1 and output 2 P2. The following table explains the available parameters. Both outputs have the same parameter options, but can be set to different values. Menu item Description Coil resistance CP Dither amplitude da Setpoint for the dither amplitude value. 0 to 98 percent can be set. The dither type dt has to be set to 0, that the variable dither amplitude da is activated! Dither frequency df Setpoint for the dither frequency. See table 3.4 Dither type dt Controls the Dither behaviour. 0 means 1 khz PWM output with additional dither, 1 means direct controlled PWM with the chosen dither frequency. 1 is default. Ramp down rd Shows the time for a ramp in 1/100s, which is used during a decreasing input value. Ramp up ru Shows the time for a ramp in 1/100s, which is used during a increasing input value. Maximum current Ih Sets the maximum output current, which is set at 100 percent setpoint in ma. Minimum current IL Sets the minimal output current, which is set at 0.1 percent setpoint in ma. Actual current AC Shows measured value of the output current in ma. Table 3.3: Proportional output menu items Dither frequency The dither frequency setting via display uses the following table 3.4 for the different possibilities.

34 3 Working with the EV2S-CAN Page 34 Displayed value frequency in Hz Table 3.4: Dither frequency Analog input menu The analog input menu is divided into input 1 A1 and input 2 A2. The following table explains the parameters of the input. Both inputs have the same parameter options, but can be set to different values.

35 3 Working with the EV2S-CAN Page 35 Menu item Calculated value maximum CP Calculated value minimum Cn Error top Et Maximum positive AP Minimum positive IP Minimum negative In Maximum negative An Error bottom Eb Negative ramp down nu Negative ramp up PU Positive ramp down Pd Positive ramp up PU Calculated value CA Raw value ra Description Shows the maximum value for the internal setpoint creation for the output. E.g means maximum output. 500 reduces the output to 50 percent. Shows the minimum value for the internal setpoint creation for the output. Shows value, which controls the short circuit detection. Input values higher then this parameter result in short circuit errors for this input. Sets the maximum valid value for the first output, if twin coils are selected. Sets the minimum valid value for the first output, if twin coils are selected. Sets the minimum valid value for the second output, if twin coils are selected. Sets the maximum valid value for the second output, if twin coils are selected. Shows the value, which controls the cable break detection. Input values lower then this parameter result in cable break errors for this input. Shows the time for a ramp in 1/100s, which is used during a decreasing input value (output 2) Shows the time for a ramp in 1/100s, which is used during a increasing input value (output 2) Shows the time for a ramp in 1/100s, which is used during a decreasing input value (output 1) Shows the time for a ramp in 1/100s, which is used during a increasing input value (output 1) Shows the calculated setpoint in the range of maximum/minimum e.g. 500 means the setpoint for the first output is set to 50 percent means 30 percent set to the second output. Shows measured value in physical units e.g in 0-10V mode means 5,421V are measured at the input Table 3.5: Analog input menu items Configuration menu The configuration menu includes the setup for the CAN-Bus, the device type and the optional password.

36 3 Working with the EV2S-CAN Page 36 Menu item Password CP Reset Cr CAN-Bus CC Device Type Cd Description Sets up an Password to protect the EV2S-CAN. After a password is set, the buttons are disabled after the next reboot. Before using them again, the right password has to be entered. The password has to be higher than 0 and lower than The value 0 disables the protection. The feature resets input type to the delivery state. After a reboot, the initialization menu is shown again. The menu item CI shows the actual CAN-ID, which can be changed. The item Cb shows the bitrate of the CAN-Bus and can also be changed. Changing the device type is possible. There are 14 types implemented. The table 3.10 shows the possible types. Table 3.6: Configuration menu items 3.3 Error Codes The EV2S-CAN provides an number of error codes, to help the user getting along with problems. These error codes are put into groups and shown on the integrated display. The procedure is easy to understand. The codes consist of two numbers. The first one represents the group and the second one shows the failure. For example the code 30: first number 3 means group of output one and the second number 0 means open circuit. If an error occurs, the display alternately shows the number of the code an the letters Er. It is always only one error shown until he is cleared. Then the next error codes is shown. The order of the displayed codes represents a priority. For example a short circuit on the output is more prior than a cable break on the input. The next table shows all currently implemented error codes.

37 3 Working with the EV2S-CAN Page 37 Error code Error group Name Reset Output 10 Analog input 1 cable break automatic inactive 11 Analog input 1 short circuit automatic inactive 12 Analog input 1 middle position automatic inactive 13 Analog input 1 4 to 20mA input: automatic inactive overload 20 Analog input 2 cable break automatic inactive 21 Analog input 2 short circuit automatic inactive 22 Analog input 2 middle position automatic inactive 30 Output 1 cable break automatic reduced 31 Output 1 short circuit setpoint zero or inactive reset 32 Output 1 controller range automatic active 40 Output 2 cable break automatic reduced 41 Output 2 short circuit setpoint zero or inactive reset 42 Output 2 controller range automatic active 56 CAN-Bus timeout setpoint receive setpoint inactive telegram 57 CAN-Bus startup telegram receive startup inactive missing telegram 58 CAN-Bus state warning automatic inactive 59 CAN-Bus state off automatic inactive 60 Temperature warning automatic active 61 Temperature shutdown automatic inactive 70 Parameters invalid device type automatic inactive 80 Other Power supply too automatic active high 81 Other Power supply too low automatic active Table 3.7: Error codes for the EV2S-CAN Error 10/20: AI1/AI2, cable break Description Analog input one AI1/AI2 can be configured in a way, that a minimum voltage, current or frequency has to be measured, to have a valid signal. If the signal is below this configurable lower limit error bottom, calculated input value becomes zero. Typical reasons are damaged cables or removed connectors. If device is configured to follow this input, outputs are disabled. Correct wiring and parameter value of error bottom should be checked, if this error appears. If the EV2S-CAN is configured as single coil, the error is cleared automatically, when signal is back in valid range. If the EV2S-CAN is configured as twin coil, the error

38 3 Working with the EV2S-CAN Page 38 is cleared automatically, when signal is back in valid range. However the middle position error (error code 12, see chapter 3.3.3) will remain valid, keeping outputs inactive Error 11/21: AI1/AI2, short circuit The analog input one/two can be configured in a way, that a voltage, current or frequency smaller than a maximum value has to be measured, to have a valid signal. If the signal is above this configurable upper limit error top, the calculated input value becomes zero. Typical reasons are short circuits to supply. If the device is configured to follow this input, outputs are disabled. Correct wiring and parameter value of error top should be checked, if this error appears. If the EV2S-CAN is configured as single coil, the error is cleared automatically, when signal is back in valid range. If the EV2S-CAN is configured as twin coil, the error is cleared automatically, when signal is back in valid range. However the middle position error (error code 12, see chapter 3.3.3) will remain valid, keeping outputs inactive Error 12/22: AI1/AI2, middle position error If the EV2S-CAN is configured as twin coil, this error is activated together with Error 10/20 or 11/21 and disables output. The error is cleared, when the input signal is back in a middle range (of Joystick). E.g. 0-10V input signal needs a middle range of V to clear the error Error 13: AI1, current overload If the analog input one is configured to 4..20mA mode, a 220Ohm resistor is activated for this input. With a maximum nominal current of 20mA, a maximum input voltage of 4.4V should result. If a sensor produces however more than 5V for 30ms, the output switches the resistor off, to protect it from overload. If device is configured to follow this input, outputs are disabled. The EV2S-CAN tries to reset the error five times. The time between two attempts is one second. If the error still exists, only a hardware reset can reset it Error 30/40: Out1/Out2, cable break The EV2S-CAN measures the current flowing through the connected coils. If the output is activated and the current is zero for more than 100ms, cable break is detected. The output voltage is automatically limited to 15%. The error is cleared after the EV2S-CAN measures a current greater than 20mA on the output. In case of this error, check the cables to the coils, and make sure, you supplied PGND (pin 2, see table 2.4) correctly to the device.

39 3 Working with the EV2S-CAN Page Error 31/41: Out1/Out2, short circuit The amplifier for output has some built-in diagnostics, indicating overload or short circuit of the output. On detection of this error, all outputs are switched off. This error can only be cleared by hardware reset, i.e. power off and on Error 32/42: Out1/Out2, controller out of range The current controller tries to approach a current defined by a setpoint generated by the input signal. The value of this current is always between minimum current and the maximum current. If the desired current cannot be reached, although output is set to 100% the range warning is generated. It is just an indication or warning, the output remains on. Possible reasons: Supply voltage too low, coil resistance too high, parameter for maximum current too high Error 56: CAN-Bus setpoint timeout If the EV2S-CAN is in CAN-Bus mode (parameter 18 is set to 10), setpoints have to be sent at least every 200ms, otherwise output is deactivated. Alternatively a heartbeat protocol messages can be sent within this rate. (Check chapter for more information) Error 57: CAN-Bus startup missing If the EV2S-CAN is in CAN-Bus mode (parameter 18 is set to 10), a CANopen startup telegram is needed to activate and enable outputs of the device. This feature can be deactivated by parameter 14. (Check chapter for more information) As long as this telegram has not been read by the device, it remains non operational. Make sure, that the master of the CANopen network is sending this telegram before starting the normal application Error 58: CAN-Bus, state warning A hardware warning of the CAN-Bus is detected. Possible reasons are: - No other device is listening to the telegrams send by the EV2S-CAN - Wrong wiring of the CAN-Low and CAN-High signals - Other CAN-Bus devices are not connected properly

40 3 Working with the EV2S-CAN Page Error 59: CAN-Bus, state off A hardware error of the CAN-Bus is detected. Possible reasons are: - Other device on CAN-Bus network with other baudrate connected - CAN-High and CAN-L lines are shorted Error 60: Temperature warning If the internal temperature of the EV2S-CAN reaches 90 C / 194 F, the modulation of outputs will be set to strong dither. That means the 1kHz normal dither is switched off. A lower, via parameter changeable, frequency is used. This error is cleared, after the internal temperature is lower then 80 C / 176 F. The normal dither will not be re-enabled automatically! Error 61: Temperature shutdown If the internal temperature of the EV2S-CAN reaches 95 C / 203 F, all outputs are disabled. This error is also cleared, after the internal temperature is lower then 80 C / 176 F Error 70: invalid device type The internal parameter 18 represents the device type. Setting a wrong type will cause this error code. The correct values can be read in table Error 80: Power supply too high If the supply voltage is higher than 32V, this error is shown, all outputs remain active Error 81: Power supply too low If the supply voltage is lower than 8V, this error is shown, all outputs remain active. 3.4 First start up After unpacking the EV2S-CAN there are two possible ways to get it running. This section describes the steps without using any PC. The second way is to us the HAWE Visual Tool via CAN-Bus interface, which will be described in the next section.

41 3 Working with the EV2S-CAN Page Initialization After powering up the EV2S-CAN for the first time, the display shows an initial menu, where the most important parameters have to be set. - Number of Coils - Input Signal - Power Supply Voltage - Coil Type The first step - Number of Coils - shows C -. With the UP and DOWN Button, the user can choose between single coil or twin coils. E.g. The HAWE PSL valve uses two coils, the HAWE EMP valve uses one coil. Only if this question is answered, the OK button can be used to jump to the next step. The second step - Input Signal - shows t -. Depending on the number of coils, reasonable input signals can be set. The following table shows the possible types. Display Number Single Coil Twin Coil 0 AI1, 0-10V AI1, 0-10V 1 AI1, 4-20mA AI1, 4-20mA 2 AI2, 0-10V, differential AI2, 0-10V, differential 3 CAN-Bus CAN-Bus 4 AI1, PWM 5 AI1/AI2, 0-10V 6 AI2, ±10V, differential 7 AI1, ratiometric to power supply 8 AI1, 0-5V 9 AI2, 0-5V, differential Table 3.8: Getting started, possible input signals After choosing a valid type, the next step can be reached by pushing the OK button. The Display now shows U-. With the UP and DOWN button the used power supply voltage should be set. 12V or 24V is recommended for most applications. To confirm the setting, a push on the OK button is necessary. The last step is the decision of the used spool - Coil type. The Display will show P-. For several HAWE valves the EV2S-CAN can set the correct standard valve parameters. If you are using a none-hawe valve, therefore choose the coil type zero.