056789 056789 056789 able S0-/ igial Z--Z posiion conrollers -rail panel forma, for elecrohydraulic closed loop conrols Z--Z-N Z--Z-C osiion Conrol Real-ime Fieldbus Reference Connecors included OL CO N CNopen L L L L L L and nhanced iagnosic /Q por www.aos.com made in Ialy -000 _ CRL_OU+ _0 OU RN L L L 056789 Z-SW-FULL Z-SW-FULL Z-SW-FULL programming sofware Z- - Z - N * lecronic axis conroller in rail panel forma No resen lernaed Conrol lernaed posiion / force (or posiion / pressure) conrol module Inernal Reference Z--Z-N 0 C _ONIOR NL F_ONIOR FUL _U+ U- F_U+ R V+ V0 Z--Z- Z--Z- C CNopen ROFIUS herc Z--Z- W OWRL I herne/i ROF IR Series number Fieldbus inerface, por always presen: N = No resen C = CNopen W = OWRL = ROFIUS I = herne/i = herc = ROF IR Z--Z igial axis conrollers perform he posiion closed loop of linear or roaive hydraulic axes. he conroller generaes a reference signal o he proporional valve which regulaes he hydraulic flow o he acuaor. 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 Feaures: 0 fas plug-in connecors por always presen - ini ype 9 fieldbus communicaion connecor for CNopen and ROFIUS R5 eherne communicaion connecors oupu and inpu for herc, OWRL, herne/i, ROF IR 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 Feaures: 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 LOC IR XL Fieldbus nework CLOC+ CLOC- V 0V + - / / R /R I V +V _R Z--Z-N 0 Z-SW-FULL sofware Valve command achine cenral uni roporional valve wih inegral driver VF +V F_R VF +V F_R www.aos.com made in Ialy ressure / Force feedback 056789-000 osiion feedback ydraulic acuaor Noe: block diagram example for alernaed posiion/force conrol, wih fieldbus inerface S0
056789 056789 056789 056789 VLVS RN Valves model ZO- ZOR- ZO-S ZOR-S LZO- LZOR- irecional LZO-S LZOR-S ZO-L aa shee FS68 FS80 FS78 Conroller model Z--Z ZO-LS OSIION RFR 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. I generaes a reference signal for he proporional valve which regulaes he hydraulic flow o he acuaor. 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. Fieldbus 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. For fieldbus communicaion deails, please refer o he conroller user manual.. 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.i generaes a reference signal for he proporional valve which regulaes he hydraulic flow o he acuaor. 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) xernal reference generaion 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 osiion achine cenral uni Inernal reference generaion achine cenral uni Speed profile generaed swich-over poins pos nalog (a) or Fieldbus (b) reference Valve command On-off (c) or Fieldbus (d) commands Valve command 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. RN OU OU RN S L L L L L L 5 LRN OSIION / FORC 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. osiion 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 closedloop regulaion. Force 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 SF SL L OU OU 056789 RN RN L L L L L L OU 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
056789 056789 056789 Z 056789 056789 S RN OU RN S OU S OU RN OU RN OU RN 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. SF 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, ZO-L are srongly recommended for high accuracy applicaions - see ech ables FS80, FS78 - auxiliary check valves are recommended in case of specific hydraulic configuraion requiremens in absence of power supply or faul - see ech able Y00 - for addiional informaion abou alernaed /Q conrols configuraion please refer o ech able S - os echnical service is available for addiional evaluaions relaed o specific applicaions usage 6 LICION XLS osiion conrol L L L osiion ydraulic seering wheel in marine applicaions Rudder conrols on moor yachs and sail boas requires smooh conrol for precise and reliable operaions. Z--Z 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 osiion conrol L L L osiion 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 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 osiion pressure conrol 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 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 osiion force conrol L L L Speed profile generaed Force 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 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) osiion force conrol L L L Speed profile generaed 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. Force Z--Z 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 S0
7 CRCRIICS ower supply (see 9.) Nominal Recified and filered : + VC : VRS = 0 VX (ripple max 0 % V) ax power consumpion 0 W Reference inpu signals (see 9., 9.) Volage: range ±0 VC ( VX olleran) Inpu impedance: Ri > 50 kw Curren: range ±0 m Inpu impedance: Ri = 500 W onior oupus (see 9., 9.5) Conrol oupu (see 9.0) nable inpu (see 9.6) igial inpus (see 9.) Faul oupu (see 9.7) Oupu range: volage ±0 VC @ max 5 m curren ±0 m @ max 500 W load resisance Range: 0 5 VC (OFF sae), 9 VC (ON sae), 5 9 VC (no acceped); Inpu impedance: Ri > 0 kw Oupu range: 0 VC (ON sae > [power supply - V] ; OFF sae < V ) @ max 50 m; exernal negaive volage no allowed (e.g. due o inducive loads) Cable break wih curren reference signal, over/under emperaure, posiion conrol monioring + VC @ max 00 m or +5 VC@ max 00 m are sofware selecable larms osiion ransducers power supply ressure/force ransducers power supply + VC @ max 00 m Forma 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-; mission: N 6000-) Communicaion inerface Communicaion physical layer os SCII coding no insulaed.0 + O CNopen N505- + S08 opical insulaed CN ISO898 ROFIUS N5070-/IC658 opical insulaed RS85 herc, OWRL, herne/i, ROF IO R / IR C 658 Fas herne, insulaed 00 ase X LiYCY shielded cables: 0,5 mm Recommended wiring cable 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 mm 8 CONNCIONS N LS CONNCOR always presen (female) CONNCOR always presen (female) CONNCOR always presen (female) INOIC LS (see 8.) INOIC LS (see 8.) INOIC LS (see 8.) N C, CNopen CONNCOR (male) ROFIUS CONNCOR (female), W, I, herc, OWRL, herne/i ROF IR CONNCOR (female - OUU) herc, OWRL, herne/i ROF IR CONNCOR (female - U),,C,,,,,I,, connecors included 8. iagnosic Ls L igh leds show conroller operaive condiions for immediae basic diagnosics. lease refer o he conroler user manual for deailed informaion. FILUS N C W I LS No resen CNopen ROFIUS herc OWRL herne/i ROF IR L L L L VLV US L/C RN L NWOR US NWOR US L LR US L/C R OFF = ower supply OFF ON = ower supply ON OFF = Faul presen ON = No faul
8. Connecors - pin CONNCOR SINL CNICL SCIFICIONS NOS o no connec o no connec V+ ower supply VC (see 9.) Inpu - power supply V0 ower supply 0 VC (see 9.) nd - power supply C _U+ osiion reference inpu signal: ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 9.) Inpu - analog signal U- Negaive reference inpu signal for _U+ and F_U+ Inpu - analog signal F_U+ ressure/force reference inpu signal (S, SF, SL conrols): ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 9.) R Connec o sysem ground C _ONIOR osiion monior oupu signal: ±0 VC / ±0 m maximum range, referred o ; defaul is ±0 VC (see 9.) Inpu - analog signal Oupu - analog signal C NL nable ( VC) or disable (0 VC) he conroller, referred o V0 (see 9.6) Inpu - on/off signal C referred o ; defaul is ±0 VC (see 9.5) F_ONIOR monior oupu signal: ±0 VC / ±0 m maximum range, ressure/force (S, SF, SL conrols) or valve spool posiion (SN conrol) For W, I, execuions he F_ONIOR is no available: do no connec Oupu - analog signal C FUL Faul (0 VC) or normal working ( VC), referred o V0 (see 9.7) Oupu - on/off signal _ igial inpu 0 VC, referred o (see 9.) Inpu - on/off signal o no connec CRL_OU+ Conrol oupu signal for exernal driver, referred o (see 9.0) Oupu - analog signal Common gnd for digial inpu and conrol oupu Common gnd _0 igial inpu 0 VC, referred o (see 9.) Inpu - on/off signal o no connec o no connec Common gnd for digial inpu and monior oupus Common gnd 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 I V _R ower supply: +VC, +5VC or OFF (defaul OFF) nalog posiion ransducer inpu signal ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 9.8) Oupu - power supply Inpu - analog signal I Common gnd for ransducer power and signals Common gnd I o no connec VF +V ower supply: +VC or OFF (defaul OFF) F_R s signal pressure/force ransducer: ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 9.9) Oupu - power supply Inpu - analog signal Common gnd for ransducer power and signals Common gnd o no connec VF +V ower supply: +VC or OFF (defaul OFF) F_R nd signal pressure ransducer (only for SF): ±0 VC / ±0 m maximum range; defaul is ±0 VC (see 9.9) Oupu - power supply Inpu - analog signal Common gnd for ransducer power and signals Common gnd o no connec S0
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 OFF (defaul OFF) 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: alluff L7 wih SSI inerface is no suppored SSI connecion - example Z--Z 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 OFF (defaul OFF) 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 conroller ncoder - INN 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) VF +V F_R (F_R) V+ R V0 VF +V F_R (F_R) V+ R 8.6 Communicaion connecors - - - - connecor - ini ype always presen SINL CNICL SCIFICION () +5V_ ower supply - aa line - + aa line + I Idenificaion 5 N_ Signal zero daa line fieldbus execuion, connecor - 9-9 pin SINL CNICL SCIFICION () 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 SCIFICION () 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 SCIFICION () X+ ransmier - whie/orange X- ransmier - orange RX+ Receiver - whie/green 6 RX- Receiver - green Noes: () shield connecion on connecor s housing is recommended
9 SINLS SCIFICIONS os digial conrollers are C marked according o he applicable direcives (e.g. Immuniy/mission C irecive). Insallaion, wirings and sar-up procedures mus be performed according o he prescripions shown in ech able F00 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/OFF he machine s safey componens, as prescribed by he uropean sandards (Safey requiremens of fluid echnology sysems and componens-hydraulics, ISO ). 9. ower supply (V+ and V0) he power supply mus be appropriaely sabilized or recified and filered: apply a leas a 0000 mf/0 V capaciance o single phase recifiers or a 700 mf/0 V capaciance o hree phase recifiers. safey fuse is required in series o each power supply: 500 m fas fuse. 9. osiion reference inpu signal (_U+) Funcionaliy of _U+ signal (pin ), depends on conrollers reference mode, see secion : exernal analog reference generaion (see.): inpu is used as reference for he conroller axis 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. 9. ressure or force reference inpu signal (F_U+) Funcionaliy of F_U+ signal (pin ), depends on seleced conrollers reference mode and alernaed conrol opions, see secion 5 : S, SL, SF 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 9. osiion 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 9.5 ressure or force monior oupu signal (F_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 posiion S, SL, SF 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 9.6 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) 9.7 Faul oupu signal (FUL) Faul oupu signal (pin C) indicaes faul condiions of he conroller (solenoid shor circuis/no conneced, reference or ransducer signal cable broken, maximum error exceeded, ec.). Faul presence corresponds o 0 VC, normal working corresponds o VC Faul saus is no affeced by he saus of he nable inpu signal. Faul oupu signal can be used as digial oupu by sofware selecion. 9.8 osiion ransducer inpu signals posiion ransducer mus be always direcly conneced o he conroller. osiion 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. 9.9 Remoe pressure/force ransducer inpu signals (F_R and F_R) - S, SF, 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. 9.0 Conrol oupu signal (CRL_OU+) he error signal processed by he conrol algorihms generaes he conrol oupu signal (pin ) for he exernal driver of he proporional valve which operaes he hydraulic flow o he acuaor. he oupu range and polariy are sofware selecable wihin ±0 VC (for volage) or ± 0 m (for curren) maximum range referred o he analog ground on pin ; defaul seing is ±0 VC 9. igial inpu signals (_0 and _) wo on-off inpu signals are available on he pin and. For each inpu by he Z-SW sofware, i is possible o se he polariy and o mach a proper condiion wihin he following: - pressure/force I selecion (defaul) - sar/sop/swich-over command in case of inernal reference generaion (see.) - specific operaive command for hydraulic axis mode (referencing mode, jog mode, auomaic mode) - jog command - disable pressure / force alernaed conrol I S SLCION S S S S 0 VC 0 VC 0 0 VC VC S0
0 CUOR S RNSUCR CRCRIICS 0. osiion ransducers he accuracy of he posiion conrol is srongly dependen o he seleced posiion ransducer. Four 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. 0. 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. 0. ransducers characerisics & inerfaces - following values are jus for reference, for deails please consul he ransducer s daashee osiion ressure/force 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. % FS mm mm (@ 0.5 m/s) < 0. % FS Lineariy error () < ±0.0% FS < ± 0.0 % FS < ± 0.00 % FS < ±0.5% FS Repeaabiliy () < ± 0.005% FS < ± 0.00 % FS < ± 0.00 % FS < ±0.% FS Noes: () power supply provided by digial conroller - see 8. () percenage of oal sroke () alluff L7 wih SSI inerface is no suppored ROR OOLS - see ech able S500 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. For fieldbus versions, he sofware permis valve's parameerizaion hrough por also if he conroller is conneced o he cenral machine uni via fieldbus. Z-SW-FULL suppor: N () S (Serial) C (CNopen) (ROFIUS ) (herc) W (OWRL) I (herne/i) (ROF IR) Noe: Z-SW programming sofware suppors conrollers wih opion S, SF, SL for alernaed conrol WRN: conrollers por is no isolaed! he use of isolaor adaper is highly recommended for C proecion (see able S500) connecion -C-S-/ cable --S-/O isolaor V programming sofware, o be ordered separaely: Z-SW-FULL V firs supply = sofware has o be acivaed via web regisraion a www.download.aos.com ; 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-FULL-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 www.download.aos.com dapers, Cables and erminaors, can be ordered separaely SOFWR RR SS For 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--Z - user manual for 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.). Faul 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.).
/ / R /R 056789 OVRLL INSIONS [mm] overall dimension wih assembled connecors 056789 ROFIUS I CLOC+ CLOC- V 0V VF +V F_R + - I V +V _R VF +V F_R Z--Z- 0-000 www.aos.com made in Ialy 7 Z--Z- ROFIUS L L L 06 5 (*) www.aos.com made in Ialy Z--Z- 0-000 ONIOR NL F_ONIOR FUL _U+ C CRL_OU+ _0 U- F_U+ R V+ V0 ROFIUS 056789 rail dimensions 5 7.5 68 5 (*) C,,C,,,,,I,, connecors included (*) Space o remove he connecors 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 www.aos.com made in Ialy _ CRL_OU+ _0 www.aos.com made in Ialy -000-000 _ CRL_OU+ _0 Z--Z-N 0 C _ONIOR NL F_ONIOR FUL _U+ U- F_U+ R V+ V0 056789 056789. Z--Z-N 0 _ONIOR NL F_ONIOR FUL C _U+ U- F_U+ R V+ V0 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,,) S0
5 WIR XLS 5. osiion conrol - analog reference - analog posiion ransducer Z--Z-N () OWR SULY VC NLO OSIION RFR SY ROUN NLO OSIION ONIOR IIL NL IIL FUL + + C Z--Z-N L L L I CRL_OU+ OWR SULY VC OSIION SINL () IIL U _ NLO ROUN IIL U _0 NLO ROUN 056789 Noes: () For valve driver 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 5. lernaed posiion/force conrol - CNopen reference - SSI posiion ransducer - analog pressure ransducers Z--Z-C () OWR SULY VC SY ROUN + Z--Z-C L L L OWR SULY VC RSSUR s SINL OWR SULY VC RSSUR nd SINL () () CRL_OU+ 056789 CNopen CLOC+ CLOC- OWR SULY VC COON N 0VC + - Noes: () For valve driver 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 5. lernaed posiion/force conrol - herne/i reference - ncoder posiion ransducer - analog load cell Z--Z-I () OWR SULY VC SY ROUN + Z--Z-I 056789 OU RN L L L CRL_OU+ OWR SULY VC FORC SINL R /R OWR SULY VC COON N 0VC () XRNL OR () / / Noes: () For valve driver 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 0/8