igial elecrohydraulic leroidraulica digiale able S0-/ igial Z--Z/LZ posiion conrollers wih driver funcionaliy -rail panel forma, for elecrohydraulic closed loop conrols Z--Z-N Z--Z-C L L L L L L Conrol N Real-ime ieldbus Reference Connecors included and No resen lernaed Conrol nhanced iagnosic /Q por Inernal Reference Z--Z- RN L L L rogramming Sofware Z-SW-ULL Z--LZ-N-05 0 C _ONIOR LV_L NL -5V _ONIOR +5V UL N _U+ LV_ U- -5V _U+ +5V R N SOL_S- V0 SOL_S+ VL+ SOL_S- VL0 SOL_S+ Z--Z- Z--Z- C ROIUS herc Z--Z- W OWRL I herne/i RO R/IR he Ialian elecrohydraulics igial lecrohydraulics - leroidraulica igiale igiale lekrohydraulik - lecrohydraulique igiale V Z-SW-ULL rogramming Sofware Version. SN: 5 Licenced Copy Z-SW-ULL programming sofware Z--Z/LZ igial axis conrollers perform he driver funcions for proporional valves plus he posiion closed loop conrol of he linear or roaive acuaor o which he proporional valve is conneced. Z--Z execuion operaes direc and pilo operaed direcional valves wih one inegral spool posiion ransducer. Z--LZ execuion operaes direcional pilo operaed valves wih wo inegral spool posiion ransducers. he conrolled acuaor has o be equipped wih inegral or exernal posiion ransducer (analog, SSI or ncoder) o feedback he axis posiion. he conroller is operaed by an exernal or inernally generaed reference posiion signal (see secion ). pressure/force alernaed conrol may be se by sofware addiionally o he posiion conrol: a pressure/force ransducer has o be assembled ino he acuaor and conneced o he conroller; a second pressure/force reference signal is required. os C sofware allows o cusomize he conroller configuraion o he specific applicaion requiremens. lecrical eaures: up o fas plug-in connecors por always presen - ini ype 9 fieldbus communicaion connecor for and ROIUS R5 eherne communicaion connecors oupu and inpu for herc, OWRL, herne/i, RO 8 leds for diagnosics (see 8.) lecrical proecion agains reverse polariy of power supply Operaing emperaure range: -0 +50 C lasic box wih I0 proecion degree and sandard -rail mouning C mark according o C direcive Sofware eaures: Inuiive graphic inerface Inernal generaion of moion cycle Seing of axis s dynamic response (I) o opimize he applicaion performances Seing of valve s funcional parameers: bias, scale, ramps, diher Linearizaion funcion for hydraulic regulaion Complee diagnosics of axis saus Inernal oscilloscope funcion In field firmware updae hrough por OL CO Z- - Z - N - 0 / * * / * lecronic axis conroller in rail panel forma = closed-loop one LV ransducer L = closed-loop wo LV ransducers Z = digial driver + axis conroller ieldbus inerface, por always presen: N = No resen C = W = OWRL = ROIUS I = herne/i = herc = RO R/IR Series number Se code (see secion 9 ) Opions, see secion : = max curren limiaion for x-proof valves C = curren feedback 0 m for LV ransducers, only in combinaion wih opion 0 = for single solenoid proporional valves 05 = for double solenoid proporional valves (only for Z) S0
LOC IR XL ieldbus nework Z-SW-ULL sofware achine cenral uni CLOC+ CLOC- V 0V + - / / R /R V +V _R N I V +V _R N V +V _R N Z--Z-N-0 0 LV_ ransducer Solenoid power ressure / orce feedback roporional valve feedback ydraulic acuaor Noe: block diagram example for alernaed posiion/force conrol, wih fieldbus inerface VLVS RN Valves irecional Sandard aa shee x-proof aa shee ZO-, ZOR- 65 - LZO-, LZOR- 80 LZ-, LZ- X0 ZO-L 75 Conroller model Z--Z Z--LZ - OSIION RR O. xernal reference generaion xis conroller regulaes in closed loop he acuaor posiion according o an exernal reference posiion signal and o he posiion feedback from he acuaor ransducer. he exernal reference signal can be sofware seleced among: nalog reference (a) - he conroller receives in real ime he reference signal from he machine elecronic cenral uni by means analog inpu (see 8.) limiing speed, acceleraion and deceleraion values. ieldbus reference (b) - he conroller receives in real ime he reference signal from he machine elecronic cenral uni by means digial fieldbus communicaion limiing speed, acceleraion and deceleraion values. or fieldbus communicaion deails, please refer o he conroller user manual. xernal reference generaion achine cenral uni nalog (a) or ieldbus (b) reference Z--Z- RN L L L. Inernal reference generaion xis conroller regulaes in closed loop he acuaor posiion according o an inernally generaed reference posiion signal and o he posiion feedback from he acuaor ransducer. he inernal reference signal is generaed by a pre-programmed cycle; only sar, sop and swich-over commands are required from he machine elecronic cenral uni by means of: - on-off commands (c) - fieldbus commands (d) os C sofware allows o design a cusomized sequence of moion phases hrough a range of pre-defined sandard commands. Sar/sop/swich-over commands and reference generaion ype can be se for each phase in order o realize an auomaic cycle according o he applicaion requess. Refer o he conroller user manual for furher deails on commands and reference generaion ype. Inernal reference generaion achine cenral uni Speed profile generaed swich-over poins pos On-off (c) or ieldbus (d) commands Z--Z- RN L L L Sar / sop / swich-over commands examples xernal digial inpu on-off commands are used o sar/sop he cycle generaion or o change he moion phase xernal fieldbus inpu on-off commands, by fieldbus communicaion, are used o sar/sop he cycle generaion or o change he moion phase Swich by posiion swich-over from acual o following moion phase occurs when he acual posiion reaches a programmed value Swich by ime swich-over from acual o following moion phase occurs afer a fixed ime, saring from he acual phase acivaion Swich by inernal saus swich-over from inernal saus are used o sar/sop he cycle generaion or o change he moion phase Reference generaion ypes examples bsolue a arge posiion reference signal is inernally generaed for each moion phase; maximum speed and acceleraion can be se o obain a smooh and precise posiion conrol Relaive as bsolue bu he arge posiion corresponds o he acuaor posiion plus a fixed quoe inernally se by sofware
RN 5 LRN OSIION / ORC CONROL lernaed pressure or force closed loop conrol can be added o he acuaor s sandard posiion conrol, requiring one or wo remoe ransducers (pressure or force) ha have o be insalled on he acuaor, see below funcional schemes. he posiion/force conrols are operaed according o wo separae reference signals and a dedicaed algorihm auomaically selecs which conrol is acive ime by ime. he dynamics of he swiching beween he wo conrols can be regulaed hanks o specific sofware seing, in order o avoid insabiliy and vibraions. conrol is acive (see phase and a side) when he acuaor force is lower han he relevan reference signal - he valve conrols he acuaor posiion by closed-loop regulaion. orce conrol is acive (see phase and a side) when he acuaor acual force, measured by remoe ransducers, grows up o he relevan reference signal - he conroller reduces he valve s regulaion in order o limi he acuaor force; if he force ends o decrease under is reference signal, he posiion conrol reurns acive. forward force backward force movemen conrol movemen conrol speed profile generaed force reference value acual value lernaed conrol configuraions - sofware selecable S S SL L Z--Z- RN RN L L L Z--Z- L L L Z--Z- RN L L L one remoe pressure ransducer has o be insalled on he acuaor s por o be conrolled wo remoe pressure ransducers have o be insalled on he acuaor s pors; he acuaor force is calculaed by he pressure feedbacks (a - b) one load cell ransducer has o be insalled beween he acuaor and he conrolled load valve s spool ransducer acuaor s posiion ransducer pressure ransducer L load cell S posiion/pressure conrol dds pressure conrol o sandard posiion conrol and permis o limi he max force in one direcion conrolling in closed loop he pressure acing on one side of he hydraulic acuaor. single pressure ransducer has o be insalled on hydraulic line o be conrolled. S posiion/force conrol dds force conrol o sandard posiion conrol and permis o limi he max force in wo direcions conrolling in closed loop he dela pressure acing on boh sides of he hydraulic acuaor. wo pressure ransducers have o be insalled on boh hydraulic line. SL posiion/force conrol dds force conrol o sandard posiion conrol and permis o limi he max force in one or wo direcions conrolling in closed loop he force performed by he hydraulic acuaor. load cell has o be insalled on hydraulic acuaor. eneral Noes: - servoproporional ype LZO, LZOR and ZO-L are srongly recommended for high accuracy applicaions see ech ables 80, 75 - auxiliary check valves are recommended in case of specific hydraulic configuraion requiremens in absence of power supply or faul, see ech able Y05 - for addiional informaion abou alernaed /Q conrols configuraion please refer o ech able S00 - os echnical service is available for addiional evaluaions relaed o specific applicaions usage 6 LICION XLS conrol ydraulic seering wheel in marine applicaions Rudder conrols on moor yachs and sail boas requires smooh conrol for precise and reliable operaions. Z--Z- L L L Z--Z/LZ conrollers perform he rudder posiion conrol sysem, ensuring accurae and repeiive regulaions for a comforable ride, hanks o: - analog posiion reference mode for real ime conrols - analog posiion ransducer for simple and compac soluion - posiion I conrol parameers o opimize he sysem response - complee diagnosic informaion for advanced sysem monioring S0
RN RN RN RN RN conrol Wind urbines he pich conrol of he roor blades is required o maximize he energy producion. ccurae posiioning, decenralized inelligence as well as long service life and reliabiliy are required. Z--Z- L L L Z--Z/LZ conrollers perform high qualiy regulaion of he blade pich simplifying he sysem archiecure, hanks o: - SSI digial posiion ransducer for high precision conrol - complee remoe sysem managemen wih fieldbus inerface - posiion I selecion o adap he posiion conrol o he differen wind condiions conrol rocess valves rocess valves moion regulaion requires smooh and remoe conrols due o wide disribued applicaions. Z--Z- L L L 0 Speed profile generaed Z--Z/LZ conrollers allow remoe conrol, hanks o: - inernal reference generaion wih maximum speed and acceleraion seings for sanding alone axis conrol - poeniomeer posiion ransducer for compac and cos effecive soluion - fieldbus connecion for easy parameerizaion and remoe commands pressure conrol Z--Z- L L L Speed profile generaed ressure Wood machinery ydraulic wood machines require configurable and repeiive moion profiles, accurae posiion conrols, and digial signals for synchronizaion purpose. Z--Z/LZ conrollers allow remoe conrol, hanks o: - inernal reference generaion wih maximum speed and acceleraion seings - analog posiion ransducer for simple and reliable soluion - pressure ransducer for alernaed pressure conrol - fieldbus connecion for remoe parameerizaion, commands, and conroller sae indicaion force conrol Speed profile generaed ending achines achine ools for cold-forming fla shees require complee, auomaic, programmable and flexible machine conrol o produce shee meal panels from punched blank. Z--Z- L L L orce Z--Z/LZ conroller combine high level posiion regulaion wih accurae force conrol o provide in a single device a complee and dedicaed soluion, hanks o: - inernal reference generaion o simplify he machine conrol cycle - digial posiion sensor for high resoluion measuremen sysem - wo pressure ransducers for alernaed force conrol - fieldbus inerface for easy machine conrol inegraion - auxiliary digial oupus for sysem saus indicaion (arge reached, force conrol acive) force conrol Z--LZ- L L L Speed profile generaed orce ie-casing machinery Clamp movemens in die-casing phases involve fas/slow moion cycle wih accurae and repeiive alernaed posiion/force conrols for he mould safey funcions. Z--Z/LZ conrollers, wih alernaed posiion/force conrol, simplify he hydraulic + elecronic sysem archiecure, hanks o: - inernal reference generaion for repeiive working cycles - SSI digial posiion ransducer for accurae axis conrol - wo pressure ransducers for alernaed force conrol - auxiliary digial inpus/oupu o synchronize he machine funcions - fieldbus connecion for machine remoe conrol and advanced diagnosics
Z--Z-N Z--Z-N-05 0 V +V _R N + - CLOC+ CLOC- V 0V / / R /R L V +V _R N V +V _R N L L Z--Z-C L L L Z--Z- L L L Z--Z-N L L L Z--Z-N-05 0 7 CRCRIICS I I I C _ONIOR NL _ONIOR UL _U+ _U+ R V0 VL+ VL0 LV_L -5V +5V N LV_ -5V +5V N SOL_S+ U- SOL_S- SOL_S- SOL_S+ ower supplies (see 0., 0.) ax power consumpion Curren supplied o solenoids Nominal Recified and filered 50 W IX =.0 for sandard driver IX =.5 for ex-proof driver (/ opion) : + VC : VRS = 0 VX (ripple max 0 % V) nalog inpu signals (see 0., 0.) Volage: range ±0 VC ( VX olleran) Inpu impedance: Ri > 50 kω Curren: range ±0 m Inpu impedance: Ri = 500 Ω onior oupus (see 0.5, 0.6) Oupu range: volage ±0 VC @ max 5 m curren ±0 m @ max 500 Ω load resisance nable inpu (see 0.7) Range: 0 5 VC (O sae), 9 VC (ON sae), 5 9 VC (no acceped); Inpu impedance: Ri > 0 kω aul oupu (see 0.8) Oupu range: 0 VC (ON sae > [power supply - V] ; O sae < V ) @ max 50 m; exernal negaive volage no allowed (e.g. due o inducive loads) larms Solenoid no conneced/shor circui, cable break wih curren reference signal, over/under emperaure, posiion conrol monioring, valve spool ransducer malfuncions, alarms hisory sorage funcion ransducers power supply + VC @ max 00 m or +5 VC @ max 00 m are sofware selecable ressure/orce ransducers power supply + VC @ max 00 m orma lasic box ; I0 proecion degree ; L 5-7,5 mm -rail mouning as per N6075 Operaing emperaure -0 +50 C (sorage -5 +85 C) ass pprox. 50 g ddiional characerisics 8 leds for diagnosic; proecion agains reverse polariy of power supply lecromagneic compaibiliy (C) ccording o irecive 0/0/U (Immuniy: N 6000-6-; mission: N 6000-6-) Communicaion inerface Communicaion physical layer os SCII coding N505- + S08 no insulaed opical insulaed.0 + O CN ISO898 ROIUS N5070-/IC658 opical insulaed RS85 herc, OWRL, herne/i, RO IO R / IR C 658 as herne, insulaed 00 ase X Recommended wiring cable LiYCY shielded cables: 0,5 mm max 50 m for logic -,5 mm max 50 m for power supply Noe: for ransducers wiring cable please consul he ransducers daashee ax conducor size (see 5 ),5 mm Noe: a maximum ime of 800 ms (depending on communicaion ype) have be considered beween he driver energizing wih he VC power supply and when he valve is ready o operae. uring his ime he curren o he valve coils is swiched o zero. 8 CONIONS N LS () C C L CONOR always presen (female) INOIC LS (see 8.) L 6 N,,C,,,,,,I,, connecors included C, 5 CONOR always presen (female) INOIC LS (see 8.) CONOR (male) ROIUS CONOR (female) RN, W, I, L 7 CONOR always presen (female) INOIC LS (see 8.) herc, OWRL, herne/i RO CONOR (female - U) herc, OWRL, herne/i RO CONOR (female - U) () connecor is available only for Z--LZ-**-0 8. iagnosic Ls L igh leds show conroller operaive condiions for immediae basic diagnosics. lease refer o he conroler user manual for deailed informaion. ILUS LS N No resen C ROIUS herc W OWRL I herne/i L VLV US L/C L NWOR US NWOR US L SOLNOI US L/C O = ower supply O ON = ower supply ON O = aul presen ON = No faul RO L L L RN R S0
8. Connecors - pin CONOR SINL CNICL SCIICIONS NOS C () ower supply VC (see 0.) Inpu - power supply V0 ower supply 0 VC (see 0.) nd - power supply VL+ ower supply VC for driver s logic and communicaion (see 0.) Inpu - power supply VL0 ower supply 0 VC for driver s logic and communicaion (see 0.) nd - power supply _U+ reference inpu signal: ±0 VC / ±0 m maximum range. defaul is ±0 VC (see 0.) Inpu - analog signal Sofware selecable U- Negaive reference inpu signal for _U+ and _U+ Inpu - analog signal _U+ ressure/orce reference inpu signal (S, S, SL conrols): ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 0.) R Connec o sysem ground C _ONIOR monior oupu signal: ±0 VC / ±0 m maximum range, referred o N; defaul is ±0 VC (see 0.5) Inpu - analog signal Sofware selecable Oupu - analog signal Sofware selecable C NL nable ( VC) or disable (0 VC) he conroller, referred o VL0 (see 0.7) Inpu - on/off signal C _ONIOR ressure/orce (S, S, SL conrols) or valve spool posiion (SN conrol) monior oupu signal: ±0 VC / ±0 m maximum range, referred o N; defaul is ±0 VC (see 0.6) Oupu - analog signal Sofware selecable C UL aul (0 VC) or normal working ( VC), referred o VL0 (see 0.8) Oupu - on/off signal LV_L ain sage valve posiion ransducer signal (see 0.) Inpu - analog signal -5V ain sage valve posiion ransducer power supply -5V Oupu power supply +5V ain sage valve posiion ransducer power supply +5V Oupu power supply N Common gnd for ransducer power and monior oupus Common gnd LV_ irec valve or pilo valve posiion ransducer signal (see 0.) Inpu - analog signal -5V irec valve or pilo valve posiion ransducer power supply -5V Oupu power supply +5V irec valve or pilo valve posiion ransducer power supply +5V Oupu power supply N Common gnd for ransducer power and monior oupus Common gnd SOL_S- Negaive curren o solenoid S Oupu - power SOL_S+ osiive curren o solenoid S Oupu - power SOL_S- Negaive curren o solenoid S Oupu - power SOL_S+ osiive curren o solenoid S Oupu - power igial posiion ransducer SSI or ncoder is sofware selecable: - SSI connecions see 8. - ncoder connecions see 8. igial posiion ransducer SSI or ncoder is sofware selecable: - SSI connecions see 8. - ncoder connecions see 8. I I V ower supply: +VC, +5VC or O (defaul O) I _R nalog posiion ransducer inpu signal ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 0.9) I N Common gnd for ransducer power and signals Common gnd I o no connec V +V ower supply: +VC or O (defaul O) _R s signal pressure/force ransducer: ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 0.0) Oupu - power supply Sofware selecable Inpu - analog signal Sofware selecable Oupu - power supply Sofware selecable Inpu - analog signal Sofware selecable N Common gnd for ransducer power and signals Common gnd o no connec V +V ower supply: +VC or O (defaul O) _R nd signal pressure ransducer (only for S): ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 0.0) Oupu - power supply Sofware selecable Inpu - analog signal Sofware selecable N Common gnd for ransducer power and signals Common gnd o no connec () connecor is available only for Z--LZ-**-0
8. SSI connecors signals - pin CLOC+ Serial synchronous clock (+) Oupu - on/off signal CLOC- Serial synchronous clock ( - ) Oupu - on/off signal V ower supply: Oupu - power supply +VC, +5VC or O (defaul O) Sofware selecable 0V Common gnd for ransducer power and signals Common gnd + Serial posiion daa (+) Inpu - on/off signal - Serial posiion daa ( - ) Inpu - on/off signal o no connec o no connec Noe: for alluff L7 wih SSI inerface only special code S is suppored SSI connecion - example Z--Z/LZ conroller SSI posiion ransducer - S odel R, 70 male connecor 0V 6 C ground (for supply) V 5 + Vdc (-5/+0%) CLOC- Clock (-) CLOC+ Clock (+) - aa (-) + aa (+) bove connecions are inended as generic example, for deails please consul he ransducer s daashee 8. ncoder connecors signals - pin /R Inpu channel /R Inpu - on/off signal /R Inpu channel /R Inpu - on/off signal V ower supply: Oupu - power supply +VC, +5VC or O (defaul O) Sofware selecable 0V Common gnd for ransducer power and signals Common gnd / Inpu channel / Inpu - on/off signal / Inpu channel / Inpu - on/off signal / Inpu channel / Inpu - on/off signal / Inpu channel / Inpu - on/off signal ncoder connecion - example Z--Z/LZ conroller ncoder - N odel LS 00, cable gland 0V Whie / reen 0V V rown / reen Up /R lack R- /R Red R+ / ink - / ray + / reen - / rown + bove connecions are inended as generic example, for deails please consul he ransducer s daashee 8.5 ressure/force ransducers connecion - example Volage -R pressure ransducer (see S65) Curren -R pressure ransducer (see S65) V +V _R (_R) N R V0 V +V _R (_R) R 8.6 Communicaion connecors - - - - connecor - ini ype always presen SINL CNICL SCIICION () +5V_ ower supply - aa line - + aa line + I Idenificaion 5 N_ Signal zero daa line fieldbus execuion, connecor - 9-9 pin SINL CNICL SCIICION () SIL L- us line (low) 5 N aa line and erminaion signal zero 6 +5V erminaion supply signal 8 L- us line (high) C fieldbus execuion, connecor - 9-9 pin SINL CNICL SCIICION () CN_L us line (low) CN_N Signal zero daa line 5 CN_SL Shield 7 CN_ us line (high), W, I, fieldbus execuion, connecor - R5-8 pin SINL CNICL SCIICION () X+ ransmier - whie/orange RX+ Receiver - whie/green X- ransmier - orange 6 RX- Receiver - green () shield connecion on connecor s housing is recommended S0
9 S CO he basic calibraion of elecronic driver is facory prese, according o he proporional valve o be coupled. hese pre-calibraions are idenified by he se code a he end of conrollers's model code (see secion ). or correc se code selecion, please include in he conroller order also he complee code of he coupled proporional valve. or furher informaion abou se code, please conac os echnical office. 0 SINLS SCIICIONS os digial drivers are C marked according o he applicable direcives (e.g. Immuniy and mission C irecive). Insallaion, wirings and sar-up procedures mus be performed according o he general prescripions shown in ech able 00 and in he user manuals included in he Z-SW programming sofware. eneric elecrical oupu signals of he valve (e.g. faul or monior signals) mus no be direcly used o acivae safey funcions, like o swich- ON/O he machine s safey componens, as prescribed by he uropean sandards (Safey requiremens of fluid echnology sysems and componens-hydraulics, ISO ). 0. ower supply ( and V0) he power supply (pin and ) mus be appropriaely sabilized or recified and filered: apply a leas a 0000 μ/0 V capaciance o single phase recifiers or a 700 μ/0 V capaciance o hree phase recifiers. safey fuse is required in series o each power supply:,5 ime lag fuse. 0. ower supply for driver s logic and communicaion (VL+ and VL0) he power supply (pin and ) for driver s logic and communicaion mus be appropriaely sabilized or recified and filered: apply a leas a 0000 μ/0 V capaciance o single phase recifiers or a 700 μ/0 V capaciance o hree phase recifiers. he separae power supply for driver's logic, allow o remove solenoid power supply from pin and mainaining acive he diagnosics, and fieldbus communicaions. safey fuse is required in series o each driver s logic and communicaion power supply: 500 m fas fuse. 0. reference inpu signal (_U+) uncionaliy of _U+ signal (pin ), depends on conrollers reference mode, see secion : exernal analog reference generaion (see.): inpu is used as reference for he conroller posiion closed loop. Inpu signal can be reconfigured via sofware selecing beween volage and curren, wihin a maximum range of ±0 VC or ± 0 m; defaul is ±0 VC fieldbus/inernal reference generaion (see.): analog reference inpu signal can be used as on-off commands wih inpu range 0 VC. 0. ressure or force reference inpu signal (_U+) uncionaliy of _U+ signal (pin ), depends on seleced conrollers reference mode and alernaed conrol opions, see secion 5 : S, SL, S conrols and exernal analog reference seleced : inpu is used as reference for he conroller pressure/force closed loop. Inpu signal can be reconfigured via sofware selecing beween volage and curren, wihin a maximum range of ±0 VC or ± 0 m; defaul is ±0 VC SN conrol or fieldbus/inernal reference seleced: analog reference inpu signal can be used as on-off commands wih inpu range 0 VC 0.5 monior oupu signal (_ONIOR) he conroller generaes an analog oupu signal (pin C) proporional o he acual axis posiion; he monior oupu signal can be sofware se o show oher signals available in he conroller (e.g. analog reference, fieldbus reference, posiion error, valve spool posiion). he oupu range and polariy are sofware selecable wihin he maximum range ±0 VC or ±0 m; defaul is ±0 VC 0.6 ressure or force monior oupu signal (_ONIOR) he conroller generaes an analog oupu signal (pin C) according o alernaed pressure/force conrol opion: SN conrol: oupu signal is proporional o he acual valve spool posiio S, SL, S conrols: oupu signal is proporional o he acual pressure/forcel applied o he cylinder s rod end onior oupu signals can be sofware se o show oher signals available in he conroller (e.g. analog reference, force reference). he oupu range and polariy are sofware selecable wihin he maximum range ±0 VC or ±0 m; defaul is ±0 VC 0.7 nable Inpu Signal (NL) o enable he conroller, a VC volage has o be applied on pin C When he nable signal is se o zero he conroller can be sofware se o perform one of he following acions: - mainain he acuaor acual posiion in close loop conrol - move owards a predefined posiion in closed loop conrol and mainains he reached posiion (hold posiion) - move forward or backward in open loop (only he valve s closed loop remain acive) 0.8 aul oupu signal (UL) aul oupu signal (pin C) indicaes faul condiions of he conroller (solenoid shor circuis/no conneced, reference or ransducer signalcable broken, maximum error exceeded, ec.). aul presence corresponds o 0 VC, normal working corresponds o VC aul saus is no affeced by he saus of he nable inpu signal. aul oupu signal can be used as digial oupu by sofware selecion. 0.9 ransducer inpu signals posiion ransducer mus be always direcly conneced o he conroller. digial inpu signals are facory prese o binary SSI, hey can be reconfigured via sofware selecing beween binary/gray SSI, ncoder or generic ransducer wih analog inerface. Inpu signals can be reconfigured via sofware selecing beween volage and curren, wihin a maximum range of ±0 VC or ± 0 m; defaul is ±0 VC Refer o posiion ransducer characerisics o selec he ransducer ype according o specific applicaion requiremens, see secion. 0.0 Remoe pressure/force ransducer inpu signals (_R and _R) - S, S, SL conrols nalog remoe pressure ransducers or load cell can be direcly conneced o he conroller. Inpu signal can be reconfigured via sofware selecing beween volage and curren, wihin a maximum range of ±0 VC or ± 0 m; defaul is ±0 VC Refer o pressure/force ransducer characerisics o selec he ransducer ype according o specific applicaion requiremens, see secion. 0. ain sage and direc or pilo posiion ransducer inpu signals (LV_L and LV_) ain sage (LV_L pin ) and direc or pilo (LV_ pin ) posiion ransducer inegraed o he valve have o be direcly conneced o he conroller using ±5 VC supply oupu available a pin, and pin,. Noe: ransducer inpu signals working range is ±0 VC for sandard or 0 m for /C opion and canno be reconfigured via sofware (inpu signals seing depends o he driver se code). 0. ossible combined opions: /C
CUOR S RNSUCR CRCRIICS. ransducers he accuracy of he posiion conrol is srongly dependen o he seleced posiion ransducer. our differen ransducer inerfaces are available on he conrollers, depending o he sysem requiremens: analog signal (analog), SSI or ncoder (digial). ransducers wih digial inerface allow high resoluion and accurae measures, ha combined wih fieldbus communicaion grans highes performances. ransducers wih analog inerface gran simple and cos effecive soluions.. ressure/force ransducers he accuracy of he pressure/force conrol is srongly dependen o he seleced pressure/force ransducer (see secion 5 ). lernaed pressure/force conrols require o insall pressure ransducers or load cell o measure he acual pressure/force values. ressure ransducers allow easy sysem inegraion and cos effecive soluion for boh alernaed posiion/pressure and posiion/force conrols (see ech able S65 for pressure ransducers deails). Load cell ransducers allow he user o ge high accuracy and precise regulaions for alernaed posiion/force conrol. he characerisics of he remoe pressure/force ransducers mus be always seleced o mach he applicaion requiremens and o obain he bes performances: ransducer nominal range should be a leas 5% 0% of he maximum regulaed pressure/force.. ransducers characerisics & inerfaces - following values are jus for reference, for deails please consul he ransducer s daashee ressure/orce Inpu ype nalog SSI () Incremenal ncoder nalog ower supply () + VC +5 VC or + VC +5 VC or + VC + VC Conroller Inerface 0 0V or 0 m Serial SSI binary/gray L 5Vpp - 50 z ±0 VC or 0 m ax speed m/s m/s m/s - ax Resoluion < 0. % S μm μm (@ 0.5 m/s) < 0. % S Lineariy error () < ±0.0% S < ± 0.0 % S < ± 0.00 % S < ±0.5% S Repeaabiliy () < ± 0.005% S < ± 0.00 % S < ± 0.00 % S < ±0.% S () power supply provided by os conroller () percenage of oal sroke () for alluff L7 wih SSI inerface only special code S is suppored VLV SS N ROR OOLS Valve's funcional parameers and configuraions, can be easily se and opimized using os Z-SW programming sofware conneced via por o he digial conroller (see able S00). or fieldbus versions, he sofware permis valve's parameerizaion hrough por also if he conroller is conneced o he cenral machine uni via fieldbus. or lueooh connecion -C-S-/ cable --S-/O isolaor he sofware is available in differen versions according o he driver s opions (see able S500): Z-SW-ULL suppor: N () S (Serial) IR (Infrared) C () (ROIUS ) (herc) W (OWRL) I (herne/i) (RO) WRN: drivers por is no isolaed! or -C-S-/ cable, he use of isolaor adaper is highly recommended for C proecion WRN: lueooh adaper is available only for uropean, US and Canadian markes! lueooh adaper is cerified according R (urope), CC (US) and IS (Canada) direcives -C-S-/ cable --S-/ adaper V programming sofware, o be ordered separaely: Z-SW-ULL V firs supply = sofware has o be acivaed via web regisraion a ; year service included Upon web regisraion user receive via email he civaion Code (sofware license) and login daa o access os ownload rea Z-SW-ULL-N V nex supplies = only for supplies afer he firs; service no included, web regisraion no allowed Sofware has o be acivaed wih civaion Code received upon firs supply web regisraion os ownload rea: direc access o laes releases of Z-SW sofware, manuals, drivers and fieldbus configuraion files a dapers, Cables and erminaors, can be ordered separaely SOWR RR SS or a deailed descripions of he available seings, wirings and insallaion procedures, please refer o he user manuals included in he Z-SW programming sofware: Z-N--LZ - user manual for Z--LZ and Z--Z. xernal reference and ransducer parameers llow o configure he conroller reference and ransducer inpus, analog or digial, o mach he specific applicaion requiremens: - Scaling parameers define he correspondence of hese signals wih he specific acuaor sroke or force o be conrolled - Limi parameers define maximum/minimum sroke and force o deec possible alarm condiions - oming parameers define he sarup procedure o iniialize incremenal ransducer (e.g. ncoder). I conrol dynamics parameers llow o opimize and adap he conroller closed loop o he wide range of hydraulic sysem characerisics: - I parameers each par of he closed loop algorihm (proporional, inegral, derivaive, feed forward, fine posiioning, ec) can be modified o mach he applicaion requiremens. onioring parameers llow o configure he conroller monioring funcion of he posiioning error (difference beween acual reference and feedback) and deecs anomalous condiions: - onioring parameers maximum allowed errors can be se for boh saic and dynamic posiioning phases, and dedicaed waiing imes can be se o delay he acivaion of he alarm condiion and relevan reacion (see.). aul parameers llow o configure how he conroller deec and reac o alarm condiions: - iagnosics parameers define differen condiions, hreshold and delay ime o deec alarm condiions - Reacion parameers define differen acions o be performed in case of alarm presence (sop a acual or preprogrammed posiion, emergency forward/backward, conroller disabling, ec.).5 Valve characerisics compensaion llow o modify he valve regulaion o mach he acuaor/sysem characerisics and o obain he bes overall performances: - Valve parameers modify he sandard valve regulaion by means of deadband compensaion, curve linearizaion and differeniaed gain for posiive and negaive regulaion.6 oion phases parameers When he inernal reference generaion is acive a pre-programmed cycle can be generaed; sar/sop/swich-over commands and reference generaion ypes parameers can be se o design a cusomized sequence of moion phases adaped o he specific applicaion requiremens (see.). S0
/ / R /R OVRLL INSIONS [mm] overall dimension wih assembled connecors () ROIUS I CLOC+ CLOC- V 0V V +V _R N + - I V +V _R N V +V _R N Z--Z--05 0 7 Z--Z- ROIUS L L L 06 5 (*) Z--Z-N-05 0 C _ONIOR LV_L NL -5V _ONIOR +5V UL N _U+ LV_ U- -5V _U+ +5V R N SOL_S- V0 SOL_S+ VL+ SOL_S- VL0 SOL_S+ ROIUS rail dimensions 5 7.5 68 5 (*) C,,C,,,,,,I,, connecors included (*) Space o remove he connecors () connecor is available only for Z--LZ-**-0 5 LLION o wire cables in he connecors:. inser cable ino he erminaion. urn screw wih a screwdriver o unlock he conroller from he rail:. pull down he locking slide wih a screwdriver. roae up he conroller.. Noe: max conducor size:,5 mm ighening orque: 0, 0,6 Nm.. o exrac he connecors:. push lever. pull connecor.. Z- Z- o inser he connecors:. push he connecor in is slo. SOL_S- V0 SOL_S+ VL+ SOL_S- VL0 SOL_S+ Z--Z-N-05 0 C Q_ONIOR LV_L NL -5V _ONIOR +5V UL N Q_U+ LV_ U- -5V _U+ +5V R N SOL_S- V0 SOL_S+ VL+ SOL_S- VL0 SOL_S+ Z--Z-N-05 0 C Q_ONIOR LV_L NL -5V _ONIOR +5V UL N Q_U+ LV_ U- -5V _U+ +5V R N Noe: all connecors are supplied wih a mechanical coding. his feaure ensures a unique inserion of each connecor in he own slo. (eg. connecor can no be insered ino connecor slo of,c,,,,,,i,,)
6 WIR XLS 6. conrol - analog reference - analog posiion ransducer Z--Z-N-0 OWR SULY VC LOIC OWR SULY VC NLO OSIION RR SY ROUN NLO OSIION ONIOR IIL NL IIL UL + + + Z--Z-N C L L L I LV_ SINL OWR SULY -5V OWR SULY +5V N OWR S- OWR S+ OWR SULY VC OSIION SINL N () () () () or valve elecrical connecions please refer o he specific echnical able () he analog posiion ransducer connecions are inended as generic example, for deails please consul he ransducer s daashee 6. lernaed posiion/force conrol - reference - SSI posiion ransducer - analog pressure ransducers OWR SULY VC LOIC OWR SULY VC SY ROUN + + Z--Z-C-05 Z--Z-C L L L LV_ SINL OWR SULY -5V OWR SULY +5V N OWR S- OWR S+ OWR S- OWR S+ OWR SULY VC RSSUR s SINL N () () () () () OWR SULY VC RSSUR nd SINL N CLOC+ CLOC- OWR SULY VC COON N 0VC + - () or valve elecrical connecions please refer o he specific echnical able () ressure ransducers connecions are shown wih volage signal oupu; for connecions wih curren signal oupu see 8.5 () he SSI posiion ransducer connecions are inended as generic example, for deails please consul he ransducer s daashee 6. lernaed posiion/force conrol - herne/i reference - ncoder posiion ransducer - analog load cell OWR SULY VC LOIC OWR SULY VC SY ROUN + + Z--LZ-I Z--LZ-I-0 RN L L L LV_L SINL OWR SULY -5V OWR SULY +5V N LV_ SINL OWR SULY -5V OWR SULY +5V N OWR S- OWR S+ OWR SULY VC ORC SINL N R /R OWR SULY VC COON N 0VC / / () () () XRNL OR () () () or valve elecrical connecions please refer o he specific echnical able () Load cell connecions is shown wih volage signal oupu; please consul he load cell daashee for deails abou connecions () he ncoder posiion ransducer connecions are inended as generic example, for deails please consul he ransducer s daashee 0/9