Bosch VT-VRPD-2 User manual
Digital valve amplifier for valve types 4WRE 6 ..., component series 2X 4WRE 10 ..., component series 2X RE 30126/09.07 Replaces: 09.05 1/10 Typ VT-VRPD-2 Component series 2X H7356_d Table of contents Features Content Page Features 1 Ordering code 2 Functional description 3 Block circuit diagram 4 Technical data 5 and 6 –Suitable for controlling proportional valves with electrical position feedback, types: 4WRE 6, component series 2X 4WRE 10, component series 2X –User data can be exactly reproduced and are protected against unintended or unauthorized changes – Use of a powerful microcontroller Pin assignment of multi-point connector 7 –Valve selection using operating software BODAC Pin assignment of D-SUB Buchse 8 –Command value input, optional as voltage or current interface Unit dimensions 8 –Voltage input as differential input Engineering / maintenance notes / supplementary information 9 –Command value input with variable input adjustment –Ramp generator –Digital inputs for calling pre-set command value parameters –Enable input and fault output –Switched-mode power supply unit for internal supply voltages –Freely configurable measuring sockets X2 (X1 positively assigned to actual valve value) –Configuration and parameterization via serial interface using PC software BODAC (CD:SYS-HACD-BODAC-01) Connection cable for BODAC – Up to 32 valve amplifiers can be interconnected via local bus for parameterization and diagnostics purposes 2/10 Bosch Rexroth AG Hydraulics VT-VRPD-2 RE 30126/09.07 Ordering code VT-VRPD 2 2X V0 0 0 1 1 = Digital amplifier for proportional valves with electrical position feedback Amplifier for valve types 4WRE 6 …-2X and 4WRE 10 …-2X Component series 20 to 29 (20 to 29: unchanged technical data and pin assignment) Standard types Material number VT-VRPD-2-2X/V0/0-0-1 R901066987 =2 0 = = 2X 0 = V0 = With valve output stage (Attention: Suitable only for valve with two solenoids!) Basic device Without display Basic device Required accessories: –PC program BODAC: Ordering code of CD: SYS-HACDBODAC-01 (R900777335) or free download on the Internet at www.boschrexroth.com/hacd –Interface cable: Cable set VT-HACD-1X/03.0/ HACD-PC (R900776897) or commercial 1:1 cable Suitable card holders: –19“ racks VT 19101, VT 19102, VT 19103 and VT 19110 (see RE 29768) –Enclosed card holder VT 12302 (see RE 30103) (standard), Mat. no. R900784153 –Open card holder VT 3002-2X/64G (see RE 29928), Mat. no. R900991843 (only for installation into control cabinet!) –Connection adapter VT 10812-2X/64G (see RE 30105), Mat. no. R900713826 RE 30126/09.07 VT-VRPD-2 Hydraulics Bosch Rexroth AG 3/10 Functional description The amplifier card is designed as double-sided printed-circuit board in Euro-format 100 x 160 mm with daughterboard. A microcontroller is the central unit of the amplifier. It controls the entire sequence and implements closed-loop position control. Data for the configuration, command value feedforward, and parameters are saved in a non-volatile FLASH. Four binary-coded, digital inputs are used for calling up parameter sets (command values) from the memory, in which a maximum of 16 sets can be saved. A call-up activates the command value for the valve spool position with the associated ramp times. Further control inputs have the following function: “Command valid”: Enable of the parameter set addressed by the current call-up (H-active) “Enable”: Activation of outputs (fault message acknowledgement by Low→High edge) The amplifier card includes a controller for the spool position of a proportional valve. The command value can be provided via digital command value call-ups  and/or via analog inputs . Analog input AI4 (b14/ b16) must be used for command values of ±10 V, analog input AI6 (b22/b24) for command values of 4 to 20 mA. Command values of 0 to +10 V (12...20 mA) control solenoid B. Command values of 0 to –10 V (4...12 mA) control solenoid A. The digital command value is added to the analog command value with the correct sign in accordance with the set call-up. The signal level of the command value inputs can be varied by means of the software. Apart from the possibility of generating ramps internally, it is possible to influence “up” and “down” ramps of external signals with correct sums and signs via analog inputs AI2 (b6/b9) and AI5 (b18/b20). For 4WRE valves, a step function generator  is provided by the software to realize an overlap jump when a spool with overlap is selected. The command value sum is fed to the controller . The actual valve value (b26) is generated by means of an oscillator/demodulator stage from the valve position measuring system and also fed to the controller . The controller output controls the current-regulated output stages. Enable and fault messages The closed-loop control is activated by a H-level at the enable input. If no command value call-up is active, digital call-up 0 is set. A fault logic  recognizes control deviations, a cable break of actual value cables and of the command value input for 4 to 20 mA as well as an inactive enable input. In the case of a fault, a fault message is output to (d22) by a Low signal and signaled visually by LED “OK” (OK goes out) on the front panel. It is possible to configure the enable so that an inactive enable input is not signaled as a fault. Parameterization and diagnosis The selection of the valve to be controlled and the selection and configuration of the command value input, the ramp generator, the enable input, and the setting of the command value call-up parameters are made via the serial interface  at the front D-SUB socket . Up to 32 valve amplifiers can be interconnected via the local bus. A bus address is assigned to each valve amplifier via BODAC. Re-plugging of the serial interface cable is not required. For further information, see RE 30126-01-B. Digital outputs DO 1 (d20) Solenoid A active DO 2 (d26) Solenoid B active DO 3 (z22) System deviation ≥ window DO 4 (z24) Freely configurable DO 5 (z26) Freely configurable DO 6 (z28) Freely configurable DO 7 (f2) Not assigned Indicator elements and measuring sockets The front panel of the command value card is provided with measuring sockets for the two analog outputs. Measuring socket “X1”: Actual valve value (b26) Measuring socket “X2”: Valve command value (default) Measuring socket “⊥”: Reference potential (corresponds to connection z32) The following states are signaled by LEDs: LED “ ” (green): Enable active LED “OK” (green): OK ready for operation LEDs “I1“...”I4” (yellow): Binary-coded command value call-ups LED “I6“ (yellow) Command valid LED “I5, I7“ (yellow) Not assigned [ ] = Cross-reference to block circuit diagram on page 4 1 2 3 4 5 6 DC DC Binary 1 Binary 2 Binary 4 Binary 8 Command valid U/U or I/U converter Analog input adjustment Switching matrix Switched-mode power supply unit Binary command value call-ups Control of binary call-ups 0V z30 z32 z20 d24 d28 d18 d2 d4 d6 d8 d12 b14 b16 U U b22 I b24 U b6 U b8 U b18 U b20 U 2 7 8 9 10 11 12 16 5 3 RS 232 17 Control of binary call-ups 6 Characteristic curve adaptation Step function generator Offset Limitation PID controller Oscillator / demodulator % t 10 9 8 7 X2 X1 PI PI 15 U 12 U = = u u z18 z2 z4 z10 z8 b30 b32 d22 d20 d26 z22 z24 z26 z28 f2 b26 b28 d30 ⊕ z14 z10 ⊕ z12 z16 i i z6 –10V +10V OK DO 1 DO 2 DO 3 DO 4 DO 5 DO 6 DO 7 Valve command value (default) Reference potential (0 V) VT-VRPD-2 X2 ⊥ Solenoid A a Valve AO1 comm. value (± 10 V) AO3 Actual valve value (± 10 V) 4 1 2 3 2 1 Solenoid B 1 b 2 Measuring sockets: Actual valve value X1 Solenoid A active Solenoid B active Control deviation ≥ window Freely configurable Freely configurable Freely configurable Not assigned 13 PID 11 Measuring sockets Digital outputs Fault logic Local bus Serial interface 14 LC1 13 14 15 16 17 Binary 15 Binary 0 S-ramp end S-ramp start Ramp “down“ Comm. value internal Ramp “up“ 4 Bosch Rexroth AG Hydraulics + UB System ground Data + Data – Enable DI 9 DI 4 DI 6 DI 1 DI 2 DI 3 External ramp AI5 “down“ (0 - 10 V) External ramp AI2 “up“ (0 - 10 V) Voltage input (±10 V) AI4 Current input (4 - 20 mA) AI6 1 4/10 RE 30126/09.07 Block circuit diagram RE 30126/09.07 VT-VRPD-2 Hydraulics Bosch Rexroth AG 5/10 Technical data (for applications outside these parameters, please consult us!) Valve amplifier VT-VRPD-2-2X/V0/0-0-1 Operating voltage Operating range Upper limit value Lower limit value Current consumption Fuse Digital inputs Digital outputs Analog inputs Voltage input AI4, AI2 and AI5 Range Input resistance Resolution Non-linearity Current input (AI6 only) Range Input resistance Current loss Resolution Analog outputs Voltage outputs AO1 and AO3 Output voltage Load Resolution Residual ripple content Ramp time Valve output stage Solenoid current per solenoid Reference voltage Residual ripple content Oscillator frequency Scan time for command value conditioning Serial interface Type of connection Local bus, distance to most distant station Card dimensions Front panel dimensions Height Width soldering side Width component side Permissible operating temperature range Storage temperature range Weight UB 24 VDC + 40 % – 10 % uB(t)max uB(t)min Imax IS Signal 35 V 21 V 1.5 A; stand-by current 270 mA 4 A slow-blowing log 0 = 0 to 5 V log 1 = 16 V to UB Signal log 0 = 0 to 5 V log 1 = UB – 3 V Imax = 30 mA, short-circuit-proof U ±10 V Re 100 kΩ, > 10 MΩ for input AI2 5 mV for range ±10 V 2.5 mV for range 0...10 V < 10 mV I 4...20 mA Re 100 Ω 0.15 % (at 500 Ω between Pin b24 and 0 V) I 5 µA U ±10 V RLmin 1 kΩ U 1.25 mV (14 bit) ±15 mV (without noise) s max. 300 Imax 2.5 A U ±10 V, 30 mA, short-circuit-proof < 20 mV f 5.7 kHz t 2 ms RS 232 (front panel), D-Sub socket 64-pin multi-point connector, DIN 41612, form G I max. 280 m cable length Euro-card 100 x 160 mm, DIN 41494 3 HE (128.4 mm) 1 TE (5.08 mm) 7 TE ϑ 0 to 50 °C ϑ –20 to +70 °C m 0.2 kg Note: For details regarding environment simulation testing in the fields of EMC (electromagnetic compatibility), climate and mechanical stress, see RE 30126-U (declaration on environmental compatibility). 6/10 Bosch Rexroth AG Hydraulics VT-VRPD-2 RE 30126/09.07 Technical data (for applications outside these parameters, please consult us) Valve 4WRE…-2X (not included in the scope of supply) Solenoid Current consumption per solenoid Imax 2.5 A Solenoid coil resistance Cold value at 20 °C R 2.7 Ω Max. warm value R 4.5 Ω Electrical connection Plug-in connection to DIN EN 175301-803 Type of protection to EN 60529 IP 65 with mating connector correctly mounted and locked Position transducer Carrier frequency f 5 kHz Coil resistance (at 20 °C): Between connections 1 and 2 R 113 Ω Between connections 3 and 4 R 101 Ω Electrical connection Plug-in connection to DIN 43650-BFZ-Pg9 Type of protection to EN 60529 IP 65 with mating connector correctly mounted and locked RE 30126/09.07 VT-VRPD-2 Hydraulics Bosch Rexroth AG Pin assignment of multi-point connector Row d Row b Pin Code 2 DI 1 4 6 Description Pin Code Description Binary 1 2 n. c. n. c. DI 2 Binary 2 4 n. c. n. c. DI 3 Binary 4 6 AI 2+ Ramp + (U)+ 8 DI 4 Binary 8 8 AI 2– Ramp + (U)– 10 DI 5 n. c. 10 n. c. n. c. 12 DI 6 Command valid 12 n. c. n. c. 14 DI 7 n. c. 14 AI 4+ Command value (U)+ 16 DI 8 n. c. 16 AI 4– Command value (U)– 18 DI 9 Enable 18 AI 5+ Ramp – (U)+ 20 DO 1 Solenoid A active 20 AI 5– Ramp – (U)– 22 OK OK output 22 AI 6+ Command value (I)+ 24 Data+ Local bus 24 AI 6– Command value (I)– 26 DO 2 Solenoid B active 26 AO 3 Actual valve value ±10V 28 Data– Local bus 28 AGND Analog GND 30 AO 1 Valve command value 30 REF– –10 V 32 AO 2 n. c. 32 REF+ +10 V Row z Row f Pin Code Description Pin Code Description 2 MA+ Solenoid A+ 2 DO 7 n. c. 4 MA– Solenoid A– 4 n. c. n. c. 6 MB+ Solenoid B+ 6 n. c. n. c. 8 MB– Solenoid B– 8 n. c. n. c. 10 Shield Shield 10 n. c. n. c. 12 L 1O– LVDT supply –, Pin 2 12 n. c. n. c. 14 L 1I– LVDT signal –, Pin 4 14 n. c. n. c. 16 L 1I+ LVDT signal +, Pin 3 16 n. c. n. c. 18 L 1O+ LVDT supply +, Pin 1 18 n. c. n. c. 20 System ground System ground 20 n. c. n. c. 22 n. c. n. c. 22 DO 3 System deviation ≥ window 24 n. c. n. c. 24 DO 4 Freely configurable 26 n. c. n. c. 26 DO 5 Freely configurable 28 n. c. n. c. 28 DO 6 Freely configurable 30 n. c. n. c. 30 UB Supply voltage 32 n. c. n. c. 32 LO Ground 7/10 8/10 Bosch Rexroth AG Hydraulics VT-VRPD-2 RE 30126/09.07 Pin assignment of D-SUB socket 9 5 GND Send data (RS 232) Receive data (RS 232) 6 1 RS 232 Unit dimensions (dimensions in mm) Rexroth O1 I2 O2 I3 O3 I4 O4 I5 O5 I6 O6 I7 O7 122 I1 100 89 3HE (128,4) OK RS232 X1 X2 VRPD-2 8TE (40,3) 165 195,5 2 RE 30126/09.07 VT-VRPD-2 Hydraulics Bosch Rexroth AG 9/10 Engineering / maintenance notes / supplementary information Product documentation for valve amplifier VT-VRPD-2-2X/V0/0-0-1 RE 30126 Technical data sheet (the present document) RE 30126-B Installation and operating instructions RE 30126-01-B Commissioning and operating instructions RE 30126-U Declaration on environmental compatibility RE 30126-Z Supplementary information for the replacement of VT-VRPD-2-1X by VT-VRPD-2-2X –The amplifier card may only be plugged or withdrawn when disconnected from the power supply! –Do not use plugs with free-wheeling diodes or LED indicator lamps for connecting the solenoids! –Measurements on the card may only be taken using instruments Ri > 100 kΩ! –Use relays with gold-plated contacts for passing on command values (small voltages, small currents)! –Route command value cables separately and always shield them; connect shield to connection z10 on the card side and leave the other end open (risk of earth loops)! –For solenoid cables up to 50 m length, use cable type LiYCY 1.5 mm2. In the case of greater lengths, please consult us! Recommendation: Also shield solenoid cables! –Use highly flexible Cu cables (min. 2.5 mm2) for connecting the system ground! The system ground is an integral part of EMC protection of the valve amplifier. It is intended to discharge interference that is transported via the data and supply cables. This is only possible, when the system ground itself does not inject interference into the command value card. –The distance to aerial lines, radio sources and radar equipment must be at least 1 m! –Do not lay solenoid and signal cables near power cables! –Due to the charging current of the smoothing capacitor on the card, back-up fuses must have slow-blowing characteristics! –Caution: Note: When the differential input is used, both inputs must always be switched on or off simultaneously. Electrical signals brought out via control electronics (e.g. signal “OK”) must not be used for switching safety-relevant machine functions! (See also European standard “safety requirements for fluid power systems and components - hydraulics”, EN 982) 10/10 Bosch Rexroth AG Hydraulics VT-VRPD-2 RE 30126/09.07 Notes Bosch Rexroth AG Hydraulics Zum Eisengießer 1 97816 Lohr am Main, Germany Phone +49 (0) 93 52 / 18-0 Fax +49 (0) 93 52 / 18-23 58 [email protected] www.boschrexroth.de © This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent. The data specified above only serve to describe the product. No statements concerning a certain condition or suitability for a certain application can be derived from our information. The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging. RE 30126/09.07 VT-VRPD-2 Hydraulics Bosch Rexroth AG 11/10 Notes Bosch Rexroth AG Hydraulics Zum Eisengießer 1 97816 Lohr am Main, Germany Phone +49 (0) 93 52 / 18-0 Fax +49 (0) 93 52 / 18-23 58 [email protected] www.boschrexroth.de © This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent. The data specified above only serve to describe the product. No statements concerning a certain condition or suitability for a certain application can be derived from our information. The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging. 12/10 Bosch Rexroth AG Hydraulics VT-VRPD-2 RE 30126/09.07 Notes Bosch Rexroth AG Hydraulics Zum Eisengießer 1 97816 Lohr am Main, Germany Phone +49 (0) 93 52 / 18-0 Fax +49 (0) 93 52 / 18-23 58 [email protected] www.boschrexroth.de © This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent. The data specified above only serve to describe the product. No statements concerning a certain condition or suitability for a certain application can be derived from our information. The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging.
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