REXROTH Rexroth VT-VRPD-2 4WRE 6 series 2X Start-Up And Operation

VT-VRPD-2 – Digital valve amplifier
for valve types
4WRE 6, component series 2X
4WRE 10, component series 2X
Start-up and Operation
RE 30126-01-B/08.07
Replaces: 07.06
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Contents
1
Introduction..................................................................................................5
1.1
Document.......................................................................................................5
1.2
General ..........................................................................................................5
1.3
Signs and symbols used in this document....................................................5
2
Overview of the 4WRE 6 and 4WRE 10 – Valve control..........................7
2.1
General ..........................................................................................................7
2.2
Electrical and hydraulic installation plan .......................................................8
Connector pin assignments ...................................................................................................10
Connecting the proportional valve........................................................................................12
Connecting the valve position transducer...........................................................................13
2.3
Controller faceplate elements......................................................................14
3
Application: Valve control for the 4WRE6 / 4WRE10 ............................16
3.1
Structured list for proceeding with startup...................................................16
3.2
Data exchange between the BODAC software and the VT-VRPD controller
card ..............................................................................................................17
3.3
Open or create parameter file .....................................................................17
3.4
Configure inputs...........................................................................................18
Voltage (b14/b16)....................................................................................................................18
Current (b22/b24)....................................................................................................................19
Ramp+ (b6/b8).........................................................................................................................19
Ramp- (b18/b20).....................................................................................................................19
Configure Analog I/O - Inputs................................................................................................20
3.5
Configure Profile ..........................................................................................21
Configure Strucure..................................................................................................................21
Commands ...............................................................................................................................22
Faults ........................................................................................................................................25
3.6
Valve configuration ......................................................................................26
Command Adjustment............................................................................................................26
Configure..................................................................................................................................29
3.7
Save parameters .........................................................................................30
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Testing the application settings ...................................................................30
Motion data ..............................................................................................................................30
Status........................................................................................................................................32
Test jacks .................................................................................................................................32
3.9
Start Application...........................................................................................33
4
User interface BODAC - General..............................................................34
4.1
Software tool and data handling ..................................................................34
The BODAC Software ............................................................................................................34
Data exchange between BODAC and the VRPD ..............................................................34
Create file.................................................................................................................................34
Save the current status ..........................................................................................................35
4.2
Main Menu ...................................................................................................35
Title bar.....................................................................................................................................36
Menu bar ..................................................................................................................................36
BODAC toolbar........................................................................................................................36
Window toolbar........................................................................................................................37
Status bar.................................................................................................................................38
Short cut list.............................................................................................................................38
5
BODAC – Menu Description.....................................................................40
5.1
File menu .....................................................................................................40
Open..........................................................................................................................................40
Save ..........................................................................................................................................40
Printer Setup............................................................................................................................41
Print...........................................................................................................................................41
Quit............................................................................................................................................42
5.2
Controller menu ...........................................................................................42
Offline........................................................................................................................................42
Connect ....................................................................................................................................42
Search Card.............................................................................................................................43
Read parameters ....................................................................................................................43
Write Parameters ....................................................................................................................44
Set parameters to memory....................................................................................................44
Language..................................................................................................................................44
Card information......................................................................................................................45
5.3
View menu ...................................................................................................46
Status........................................................................................................................................47
Fault History.............................................................................................................................48
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Configuration menu .....................................................................................49
Analog I/O ................................................................................................................................49
“Inputs” field....................................................................................................................49
Local Bus..................................................................................................................................51
5.5
Tools menu ..................................................................................................53
Preferences..............................................................................................................................53
Com ..................................................................................................................................53
Options.............................................................................................................................56
Security............................................................................................................................59
Utilities ......................................................................................................................................61
5.6
Application Window menu ...........................................................................62
Structure...................................................................................................................................62
Command adjustment............................................................................................................62
Commands ...............................................................................................................................62
Digital I/O..................................................................................................................................63
Motion Data..............................................................................................................................66
Creating a log-file....................................................................................................................67
Multiplot....................................................................................................................................68
Multiplot toolbar..............................................................................................................68
Multiplot signal display legend.....................................................................................71
Winview recording...................................................................................................................72
Faults ........................................................................................................................................73
Test jacks .................................................................................................................................73
5.7
Windows menu ............................................................................................74
Select an opened window......................................................................................................74
Save layout ..............................................................................................................................74
Open layout..............................................................................................................................74
5.8
Help menu....................................................................................................75
About BODAC…......................................................................................................................75
Topics........................................................................................................................................75
Examples..................................................................................................................................75
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Introduction 1
1
Introduction
1.1
Document
Version status of this document: 1.0
1.2
General
In this manual you will become familiar with:
n
The digital amplifier VT-VRPD
n
The BODAC (Bosch Rexroth Operator interface for Digital Axis Controller)
software
n
Application examples
You will learn about the menus and window contents for the software, the settings and
parameters
The software description presumes basic familiarity with a PC and corresponding
knowledge of the user interface and operating elements of Windows™
If you need additional information, please read the relevant chapters in the Microsoft
Windows user’s manual or use Windows online help
Information about installation and operation of the VT-VRPD card can be found in the
manual “Installation and Operation of the VT-VRPD Controller”
A list of VRPD documentation can be found in the publication RE 30126
1.3
Signs and symbols used in this document
The following signs and symbols are used in this manual
Ø
Activity symbol: The text following this sign describes activities. These are to be
performed from top to bottom in the order indicated.
ü
Result symbol: The text following this sign describes the result of an action.
After this symbol you will find notes and useful tips for optimal usage of
the controller card.
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Introduction 1
After this symbol you will find references to more detailed
documentation.
Warning signs
Special safety notes are given at the relevant locations. These are indicated using the
following symbols
General hazard
This sign is placed in front of activities which represent a
potential hazard to persons and/or extensive damage to
equipment
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
2
Overview of the 4WRE 6 and 4WRE 10 – Valve control
2.1
General
The digital amplifier VT-VRPD-2-2x is used to control a 4/2- and 4/3-Proportional
Control Valve with electrical feedback of the type 4WRE6 or 4WRE 10.
The control system as a minimum consists of:
n
Valve 4WRE 6 ...-2X/G24K4/V or 4WRE 10 ...-2X/G24K4/V
n
Controller VT-VRPD-2-2x
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
2.2
Electrical and hydraulic installation plan
Fig. 1 Block schematic of VT -VRPD card
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
Explanation of items 1 – 17:
No.
Designation
1
U/U- or I/U-Transformer
2
Adjustment of analog inputs
3
Switching matrix
4
Power supply unit
5
Binary command value call-ups
6
Binary call-ups control
7
Adjustment of characteristic curve
8
Creator of jump function
9
Offset
10
Limitation
11
PID controller
12
Oscillator/Demodulator
13
Testjacks
14
Digital outputs
15
Fault logic
16
Local Bus
17
Serial interface
Testjacks
X1
Valve current (default)
X2
Valve command (default)
-
Reference potential (0V)
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
Connector pin assignments
Row d
Pin
Description
VT-VRPD-2-2X
2
DI 1
Command call-up: Binary 1
4
DI 2
Command call-up: Binary 2
6
DI 3
Command call-up: Binary 4
8
DI 4
Command call-up: Binary 8
10
DI 5
n.c.
12
DI 6
DI 1 – 4 valid
14
DI 7
n.c.
16
DI 8
n.c.
18
DI9
Enable
20
DO 1
Solenoid A active
22
OK
Ready for operation
24
Data +
Local CAN Bus In-/Output
26
DO 2
Solenoid B active
28
Data –
Local CAN Bus In-/Output
30
AO 1
Valve command value
32
AO 2
n.c.
Tab. 1 Connector configuration, row d
Row b
Pin
Description
VT-VRPD-2-2X
2
AI3+
n.c.
4
AI3-
n.c.
6
AI2+
Ramp+ (current or voltage input)
8
AI2-
Ramp+ (current or voltage input)
10
AI1+
n.c.
12
AI1-
n.c.
14
AI4+
Command value (as voltage input)
16
AI4-
Command value (as voltage input)
18
AI5+
Ramp- (current or voltage input)
20
AI5-
Ramp- (current or voltage input)
22
AI6+
Command value (as current input)
24
AI6-
Command value (as current input)
26
AO3
Solenoid current
28
AGND
Analog GND
30
REF-
Reference voltage -10V
32
REF+
Reference voltage +10V
Tab. 2 Connector configuration, row b
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
Row z
Pin
Description
VT-VRPD-2-2X
2
MA+
Solenoid A+
4
MA –
Solenoid A–
6
MB+
Solenoid B+
8
MB –
Solenoid B–
10
Shield
Shield
12
L1O–
LVDT Valve Power –
14
L1I–
LVDT Valve actual value –
16
L1I+
LVDT Valve actual value +
18
L1O+
LVDT Valve Power +
20
System ground
System ground
22
DO 3
Following error > configured value
24
DO 4
Digital Output, programmable
26
DO 5
Digital Output, programmable
28
DO 6
Digital Output, programmable
30
UB
Supply voltage
32
LO
Common
Tab. 3 Connector configuration, row z
Row f
Pin
Description
VT-VRPD-2-2X
2
DO 7
n.c.
4
SSI Clk+
n.c.
6
SSI Clk-
n.c.
8
SSI Data+ /
INC Ua1
n.c.
10
SSI Data -/
INC /Ua1
n.c.
12
Ua2
n.c.
14
/Ua2
n.c.
16
Ua0
n.c.
18
/Ua0
n.c.
20
L2O-
n.c.
22
L2I-
n.c.
24
L2I+
n.c.
26
L2O+
n.c.
28
GND_CAN
n.c.
30
CANL
n.c.
32
CANH
n.c.
Tab. 4 Connector configuration, row f
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
Connecting the proportional valve
When connecting the proportional valve, be sure that the solenoid cables are routed
separately from the inductive position transducers.
It is strongly recommended that the solenoid cable is shielded.
For lengths up to 50 m cable 2 x 1.5 mm² of type LiYCY-CY (16 AWG double-shielded
cable) is recommended. When double shielded cable is used the outer shield can be
terminated entering the control cabinet and the inner shield needs to be terminated at
the controller card.
Solenoid connector wiring
Solenoid a
Solenoid b
PE
1
PE
2
1
to Controller
z10
z2
2
to Controller
z4
z6
z8
VPCD_05
Fig. 2 Connecting the solenoids
A CECc 75301-803-A002FA-H3008-G cable connector according to DIN EN 175 301803 and ISO 4400 is recommended for connecting the solenoids.
n
Solenoid a, cable connector color gray
Order separately under material number R901017010
n
Solenoid b, cable connector color black
Order separately under material number R901017011
Single-solenoid valves are to be connected to solenoid A+/A-. The
solenoid B+/B- connection then remains open. For single-solenoid
valves, only positive command values are recognized as being valid.
When using single-solenoid valves in conjunction with current input
b22/b24, it must be noted that range +/-100% is set as default setting.
To be able to utilize the full range 0…20mA, range 0~100% must be
set.
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
Connecting the valve position transducer
Connection for the valve position transducer is shown in the following illustration.
Valve position feedback connection
4 2
1 3
z14
z12
z16
z18
z10
VPC D_06
Fig. 3 Connecting the valve transducer
The transducer is connected using a 4-pole cable connector Pg7-G5W1F, which can
be ordered separately under material number R900023126.
Cable 4 x 0.25 mm² of type LiYCY-CY ( 4 x 30 AWG Double shielded cable) is
recommended for lengths up to 50 m.
The shield should be connected to z10 on the edge connector of the controller on the
supply side only.
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
2.3
Controller faceplate elements
Fig. 4 Faceplate elements
Status-LED
The LED indicates the status of the controller card.
OK
“Ready”
“Enable“ (d18) active
Serial port
The controller cards software is configured using the serial port. The following graphic
shows the pin configuration for the D-SUB female on the front panel.
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Overview of the 4WRE 6 and 4WRE 10 – Valve control 2
5
GND
9
Transmit data
(RS232)
Receive data
(RS232)
6
1
D-SUB
Fig. 5 Terminal assignments for the D-SUB socket
LEDs Inputs /
Outputs
When an input or output is active the corresponding LED is illuminated.
LED
Description
VT-VRPD-1-1X
I1
DI 1
Binary Command-Setpoint 1
I2
DI 2
Binary Command-Setpoint 2
I3
DI 3
Binary Command-Setpoint 4
I4
DI 4
Binary Command-Setpoint 8
I5
DI 5
n. c.
I6
DI 6
Command-Setpoint 1-4 valid
I7
-
n. c.
O1
DO 1
Solenoid A active
O2
DO 2
Solenoid B active
O3
DO 3
Following error > configured value
O4
DO 4
Digital Output, programmable
O5
DO 5
Digital Output, programmable
O6
DO 6
Digital Output, programmable
O7
-
n. c.
Tab. 5 LEDs on front panel
Test jacks
The test jacks can be used to access variable control signals.
X1
Test jack 1 (Output A03)
X2
Test jack 2
Test jack GND
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Application: Valve control for the 4WRE6 / 4WRE10 3
3
Application: Valve control for the 4WRE6 / 4WRE10
3.1
Structured list for proceeding with startup
Using software for startup
Configure inputs
n
The BODAC Software
n
Data interchange between BODCA software and the controller card VT-VRPD
n
Opening or creating Parameters
n
Configure inputs
Setpoint using a voltage input
Setpoint using a current input
Ramp + (increasing)
Ramp - (decreasing)
Configure analog inputs
Define structure
n
Configure Profile
Configure structure
Setpoint configuration
Faults
Store current status
n
Store parameter values
Process settings
n
Check Process settings
Motion Data
Status
Testjacks
Starting the application
n
Start the Application
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Application: Valve control for the 4WRE6 / 4WRE10 3
3.2
Data exchange between the BODAC software and the VT-VRPD
controller card
Establish an RS-232 connection between the PC and the VT-VRPD so that you can
configure, save and duplicate the desired data for your controller card.
The baud rate (57600 baud) is fixed in the card.
Ø
Ø
Connect PC to VT-VRPD using an RS-232 cable (1:1 cable)
e.g. cable set: VT-HACD-1x/03.0/HACD-PC, Material-No. R900776897,
length 3 m
Turn on PC and VT-VRPD
Ø
Install BODAC.
Ø
Start BODAC (see section 4 “BODAC user interface”).
USB converter:
If the PC has no serial port, an USB/RS232 interface converter may be
used. (Can be ordered using material number R901066684.)
3.3
Open or create parameter file
The card is configured depending on the application. The data for configuration and
parameterisation are saved in a file (FILENAME.PARAM) and stored in the predefined
directory \user\.
Assign a file name and save the beginning state.
If there are no param eter files, you are prompted after program start to
open a default file.
Open parameter file
Create parameter file
See section “Open”.
See section “Save”.
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Application: Valve control for the 4WRE6 / 4WRE10 3
3.4
Configure inputs
The “Analog I/O” menu is where you configure the analog inputs for your application.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Analog I/O” window. A list of existing shortcuts for the
toolbar can be found in Section 4.2 “BODAC Toolbar”.
Fig. 6 “Analog I/O" window
Analog I/O File menu
Analog I/O Controller menu
Analog I/O Help menu
The File menu in the “Analog I/O” window corresponds to the BODAC main window
“File menu”.
Contains commands for reading, writing and modifying parameters.
Takes you directly to the help for the current topic, or to the contents page of the
BODAC windows help.
NOTES:
Note that set external command values are added to the internal
command values of the profiles. If the external command value is
turned off, only the parameterized internal set point always remains as
the input for the controller.
The analog inputs are all differential inputs.
Note:
If the differential inputs are used both connections of the differential
input have to be switched ON or OFF simultaneously.
Contacts used for this have to be suitable for currents< 1mA.
Voltage (b14/b16)
Here the range for the external setpoint (Voltage input b14/b16) is defined.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Type
By using the mouse to click on the „Type“ field a pull-down menu will open from which
the following options can be selected:
n
+/-10 V
The input signal has a range of (–10 V) to (+10 V).
n
0~10 V
The input signal range is from (0 V) to (+10 V).
Further adjustment to the input signals is explained in greater detail in the section
“Configure Analog I/O - Inputs“.
Current (b22/b24)
Type
The range for the external setpoint using the Current input (b22/b24) is configured for
4-20 mA and can not be changed.
Further adjustment to the input signals is explained in greater detail in the section
“Configure Analog I/O - Inputs“.
Ramp+ (b6/b8)
This value determines the external ramp used to ramp the command signal when the
setpoint is a rising edge in positive (Solenoid A) or negative (Solenoid B) direction.
Type
Clicking on the „TYPE“ entry field opens a pulldown menu containing the following:
n
0~10 V
An input signal of (0 V) to (+10 V) is expected.
n
4~20 mA
The current value of the input signal ranges from (4 mA) to (20 mA).
For additional configuration of the Ramp+ please refer to Section “Configure Profile”
Ramp- (b18/b20)
This value determines the external ramp used to ramp the command s ignal when the
setpoint is a falling edge in positive (Solenoid A) or negative (Solenoid B) direction.
Type
Clicking on the „TYPE“ entry field opens a pulldown menu containing the following:
n
0~10 V
An input signal of (0 V) to (+10 V) is expected.
n
4~20 mA
The current value of the input signal ranges from (4 mA) to (20 mA).
For additional configuration of the Ramp- please refer to Section “Configure Profile”
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Application: Valve control for the 4WRE6 / 4WRE10 3
Configure Analog I/O - Inputs
The following parameters can be used to configure the Analog I/O – Inputs:
Range
Min
The value range of the signal in [%] is set in the „Range“ column. If the selection +/10V is made in the „Type“ column a signal of (-10V) corresponds to a signal of (100%) when the range setting is +/-100%.
The „Min“ value sets the minimum fort he input signal. Depending on the setting of
„Type“ and „Range“ this value is translated to the minimum value of the „Range“
setting.
If for example you enter -5V , with Type = +/-10V and Range = +/- 100%, a signal of 5V is interpreted as -100%.
Max
The „Max“ setting is the opposite of the „Min“. If +9V is entered a signal of +9V is
interpreted as 100%.
min Fault
If the value falls below the entered value, BODAC uses the „Status“ window and the
„Status bar“ to indicate that a fault has occurred. Specifying the error response is
done in the “Faults” window.
max Fault
If the value exceeds the entered value, BODAC uses the „Status“ window and the
„Status bar“ to indicate that a fault has occured. Specifying the error response is done
in the “Faults ” window.
max Unit
The „max Unit“ specifies the conversion from Range [%] to Units [Unit].
Fields that can not be modified are grayed-out.
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Application: Valve control for the 4WRE6 / 4WRE10 3
3.5
Configure Profile
Configure Strucure
This window is us ed to configure which inputs and/or components are going to be
active.
Clicking on the preceding icon, which is part of the toolbar, also opens
the window „Structure“. A list of existing icons for the toolbar can be
found in section 4.2 „BODAC Toolbar“.
Fig. 7 „Struc ture“ window
Structure - File menu
Structure - Controller menu
Structure - Help menu
The File menu in the “Structure” window corresponds to the BODAC main window
“File menu”.
Contains commands for reading, writing and modifying parameters .
Takes you directly to help for the current topic, or to the contents page of the BODAC
windows help.
Ext. Ramp +
Activates / De-activates the positive external Ramp.
Ext. Ramp -
Activates / De-activates the negative external Ramp.
External CMD
Valve controller
Here the user can select the external setpoint (Voltage, Current or OFF) and polarity.
The valve to be controlled with this card has to be selected in this window. Choosing a
valve defines the default values for the valve parameters .
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Application: Valve control for the 4WRE6 / 4WRE10 3
Apart from the pull down menu’s in the „Structure“ window there are also several
buttons that will lead to seperate windows when selected clicking on it:
Clicking on this button opens the window „Commands“. See also
"Commands "
Clicking on this button opens the window „Commands“. See also
"Commands "
Clicking on this button opens the window „Analog I/O“. See also
„Configure Analog I/O - Inputs“.
Clicking on this button opens the window „Command Adjustment“.
See also „Valve Configuration“
Commands
In order to have a smooth control Step changes of the command should be avoided.
For this purpose there are parameters available to shape the command signal before
it enters the control portion of the controller.
Ramp
Commands
To create a command the user has the ramp parameters to manipulate this command.
The configured ramp time always reflects the time it takes to reach the Command of a
100%. E.g. if the Command changes from 0% to 50 % it will take half the time
configured in the Ramp time.
In this window you set the digital selected commands as well as the Ramps and SRamps .
Clicking on the preceding icon, which is a component of the toolbar,
also opens the „Commands“ window. A listing of existing shortcuts for
the toolbar can be found in Section 4.2 „BODAC Toolbar“.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Fig. 8 Window „Commands“
Commands –
File Menu
Commands –
Controller menu
Commands –
Help menu
Corresponds to the BODAC main window „File menu“.
Digital Setpoints
Up to 16 separate setpoints can be selected using the digital inputs. The different
parameters for these digital setpoints are configured in this window:
Contains commands for reading, writing and modifying parameters.
Takes you directly to the help for the current topic, or the contents page of the
BODAC windows help.
n
Command (-100 … +100 %)
n
Ramp time for rising flank (0.01 ... 300 s)
n
Ramp time for falling flank (0.01 ... 300 s)
n
S-Ramp for rising flank
n
S-Ramp for falling flank
The selected digital setpoint is added to the external CMD as can be
seen in Fig. 8 “Structure” window.
Binary enable
The digital input DI6 sets the binary word as valid. Only if this input is High the
patterns for inputs DI1 to DI5 are accepted. The current state remains valid until there
is a state change.
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Application: Valve control for the 4WRE6 / 4WRE10 3
In the motion data screen inputs DI1 to DI5 are only updated if DI6
shows a High level.
The active block can be calculated according to the following:
Active block = 8*DI4 + 4*DI3 + 2*DI2 + 1*DI1
where
DIx = 0 if input shows a Low level (0V)
DIx = 1 if input shows a High level (24V).
The following shows the relationships of the digital inputs in a truth table.
Active Block
DI4
Binary 8
DI3
Binary4
DI2
Binary 2
DI1
Binary 1
0
0
0
0
0
1
0
0
0
1
2
0
0
1
0
3
0
0
1
1
4
0
1
0
0
5
0
1
0
1
6
0
1
1
0
7
0
1
1
1
…
…
…
…
…
12
1
1
0
0
13
1
1
0
1
14
1
1
1
0
15
1
1
1
1
The blocks are activated by the high end controller (SPS / PLC) according to the table
shown using the digital inputs.
An overview of the connected signals to the controller and active block
can be found in the „Motion data“ window described in the Section
“Testing the application settings„.
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Faults
In the „Faults“ window the fault behavior of the VRPD is configured.
Clicking on the preceding icon, which is a component of the toolbar
and only accessible at level 2, also opens the :Faults“ window. A list of
existing shortcuts for the toolbar ca be found in Section 4.2 „BODAC
Toolbar“.
Fig. 9 Window „Faults““
Faults –
File menu
Faults –
Controller menu
Faults –
Help menu
Faults
Debounce
Corresponds to the BODAC main window “File menu”.
Contains commands for reading, writing and modifying parameters .
Takes you directly to the help for the current topic, or to the contents page of the
BODAC windows help.
In the Faults window the response of the VRPD Control Card for various monitoring
settings is specified:
n
STOP
The VRPD stops the controller and the current output to the solenoids is set to
zero. A specific error message is not possible. The PLC recognizes the fault
condition by the „OK“ signal being low.
n
ERROR
The VRPD sets a flag and in the „Status“ window indicating that a Fault has
occured. In the “Digital I/O” window a digital output can be configured to signal the
combined error “Analog I/O Fault”. This combined error indicates that one of the
analog inputs exceeds the Min Fault or Max Fault setting.
n
OFF
The controller card does not register a fault and there is no error response.
For every Fault the user can configure a debounce time.
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Application: Valve control for the 4WRE6 / 4WRE10 3
3.6
Valve configuration
Command Adjustment
In this window the controller can be optimized to the applied valve by adjusting the
command for the characteristic properties of this valve.
Clicking on the preceding icon, which is a component of the toolbar
also opens the “Command Adjustment“ window. A list of existing
shortcuts for the toolbar can be found in Section 4.2 „BODAC Toolbar“.
Fig. 10 „Command Adjustment“ window
Command Adjustment –
File menu
The File menu in the „Command Adjustment“ window corresponds to the BODAC
main window „File menu“.
Command Adjustment –
Controller menu
Command Adjustment –
Help menu
Contains commands for reading, writing and changing parameters.
Takes you directly to the help function for the current topic, or to the contents page of
BODAC windows help.
NOTES:
You can adapt the controller setting to the relevant valve by selecting the
valve in the “Structure“ window. Please note also that the valve
param eters shown are only updated after you transmitted the valve
selection (i.e. the valve selection is displayed in blue).
In the offline mode, always the same standard parameter set is
displayed. If you wish to view the parameter set of the selected valve,
you have to be online.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Curve correction
A curve correction can be applied to the Command. We can use either a parameter
called „Gamma“ (Type 1) or linearization table (Type 2). Fig. 12 shows the window if 2
is selected from the pull down menu „Type“.
Fig. 11 „Command Adjustment“ window with Cureve correction Type 2
Curve correction – Type 1
The Curve correction entry field Type 1 („Gamma“) is used to correct a non linear
curve of the valve. The values for “Gamma” lie between 0 and 100, whereby a setting
of 100 does not affect the variable and 0 represents the maximum adjustment.
In the following example („Plot Gamma“), 3 curves are shown. The blue curve “LO1”
represents a Gamma entered value of 100, the brown curve „OUT2“ is set to the
Gamma entered value 90, and the red curve “OUT1” has a Gamma value of 50.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Fig. 12 Plot - Gamma
Curve correction – Type 2
Overlap
If Type 2 is selected for the Curve correction linearization of the valve can be
achieved by entering individual value pairs.
Overlap compensation is used for linearizing of valves with a positive overlap. This will
correct the control value (valve setpoint). The value in the entryfield Step +/Step – is
added to the control value. The step can be specified differently depending on the
sign of the control value.
If this control value lies within the „Deadband“ a value is output which closes the
overlapped valve in defined fashion if Step +/Step – has been correctly selected.
The result for the following settings is shown in the illustration below:
Step+ = 30%,
Step- = 20% and
Deadband = 10%.
The time base is set to 500ms.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Fig. 13 Plot – Overlap
Offset
Limit
The parameter in the „Offset“ entry field shifts the variable by the entered value.
In the fields „Limit +“ and „Limit –„ the positive an dnegative maximum value allowable
is specified.
Configure
the zero adjustment of the connected valve can be configured.
Clicking on the preceding icon, which is a component of the and only
accessible at level 2, also opens the “Configure“ window. A list of
existing shortcuts for the toolbar can be found in Section 4.2 „BODAC
Toolbar“.
Fig. 14 „Configure“ window
Configure –
File menu
Corresponds to the BODAC main window „File menu“.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Configure –
Controller menu
Configure –
Help menu
Contains commands for reading, writing and modifying parameters.
Zero Adjustment
In this window the zeropoint of the feedback LVDT is adjusted. The range for the
zeropoint valve is from (-100) to (+100).
Takes you directly to the help fort he current topic, or to the contents page of the
windows help.
Here is how the zeropoint valve is adjusted:
3.7
Ø
Set Enable and apply a command of 0%
Ø
Change the value of „Zeropoint valve“ until the feedback LVDT = 0%.
ü
All parameters for all functions are set.
Ø
Save all the parameters in a file (FILENAME.PARAM). The parameter file is
stored in the directory \user\.
Save parameters
See also Section „Save“.
3.8
Testing the application settings
With the Enable High you can get a quick overview of the current state of the
controller through:
n
The current signals („Motion data“ window)
n
Any present failures („Status“ window)
n
The hardware/software status of the controller card („Card information“ window)
If certain signals need to be externally available (e.g. for monitoring on a oscilloscope)
the Test jacks can be used as the external interface.
Motion data
This window shows the links between the individual process variables and the current
values as well as the signal states.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Process display” window. A list of existing shortcuts for
the toolbar can be found in Section 4.2 “BODAC Toolbar”.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Fig. 15 “Motion Data” window
In the upper section the actual state of the VRPD is displayed with the parameter
“Binary call”. If the Enable is set but the Binary valid signal is low Block 0 is called
regardless of the binary inputs setting.
The signals displayed in the middle portion of this window are the actual values of the
signals in the “Structure” window.
In the bottom part of the window the Digital inputs and outputs status is displayed
using ON/OFF.
Motion data –
File menu
Motion data –
Controller menu
Motion data –
Help menu
Motion data –
Toolbar
Corresponds to the BODAC main window „File menu“.
Contains commands for reading, writing and modifying parameters.
Takes you directly to the help for the current topic, or to the contents page of the
BODAC windows help.
Clicking on the oscilloscope symbol in the toolbar opens the BODAC
window “Multiplot”. For more information see also Section “Multiplot”.
The Data Log symbol in the toolbar generates a file with the extension
“.log” in which all motion data are stored. For more information see
also Section “Creating a log file“.
Motion data
Selecting a signal for graphical representation is done by clicking on that signal in the
„Motion data“ window. Deselecting a signal is done by clicking on this signal a second
time. When all the signals are marked the „multiplot“ window can be opened by
clicking on the „Multiplot“ icon in the toolbar. For more information see also Section
“Multiplot”.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Status
The „Status“ window provides an overview of the current faults that were detected
while the controller card was running.
Clicking on the preceding icon, which i spart of the toolbar, also opens
the „Status“ window. A listing of existing shortcuts for the toolbar can
be found in Section 4.2 “BODAC Toolbar“.
Status
Fig. 16 Window „Status“
The signals monitored can have the following status:
n
OK
No faults .
n
ERROR
A Fault was detected. This Fault was configured as a „ERROR“ in the „Fault“
window resulting in the detection of the Fault but not switching off the controller.
Not every Fault can be configured as a “ERROR”. See also Section “Faults”.
n
STOP
A Fault was detected. This Fault was configured as a „STOP“ in the „Fault“
window resulting in switching off the controller. See also Section “Faults”.
Test jacks
In this window you can configure the test jacks: You specify which control parameter
is available on the test points.
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Application: Valve control for the 4WRE6 / 4WRE10 3
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Test points” window. A list of existing shortcuts for the
toolbar can be found in Section 4.2 “BODAC Toolbar”.
Fig. 17 “Test jacks” window
Test jacks File menu
Test jacks Controller menu
3.9
The File menu in the “Test jacks” window corresponds to the BODAC main window
“File menu”.
The Controller menu contains commands for reading, writing and modifying
param eters.
Test jacks Help menu
The Help menu takes you directly to the help for the current topic, or to the contents
page of the BODAC windows help.
Test jacks
Test jack X1 is permanently set to the actual value „LVDT“. X2 can be configured as
the command before the Command Adjustment (LC1) or the Command after the
Command Adjustment (OUT1).
Start Application
Start-up
The application is started by setting the digital input „Enable“ (d18).
See also "Electric and Hydraulic Installation plan"
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User interface BODAC - General 4
4
User interface BODAC - General
4.1
Software tool and data handling
The BODAC Software
BODAC is a software tool for start-up. It must be installed on the PC or laptop you are
using for the initial startup.
BODAC stands for:
Bosch Rexroth Operator interface for Digital Axis Controller for in- and output
configuration, controller structure configuration, parameterisation, motion data and
diagnostics.
This software tool can be downloaded from the Internet at
http://www.boschrexroth.com/hacd.
Data exchange between BODAC and the VRPD
Establish a connection between the PC and the VT-VRPD so that you can set, save
and duplicate the desired data.
The connection is based on RS232. A fixed baud rate is set in the card (57600 baud).
Ø
Ø
Use an RS232 cable (1:1 cable) to connect the PC to the VRPD.
Turn on PC and VRPD.
Ø
Install BODAC.
Ø
ü
Start BODAC (see document RE 30126-B)
BODAC automatically uploads the parameter set from the VRPD.
If BODAC does not upload automatically, no connection was made. In
this case check the “Configuration of the serial interface”, the serial
connection and the supply voltage.
Create file
It is recommended that the parameter set be saved in a file. This allows you to restore
the current status of the VRPD at any time.
Assign a file name and save the initial param eter settings.
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User interface BODAC - General 4
Save the current status
This allows you to easily store all parameters and structure specifications during
startup. If your work is interrupted, you can resume later without any loss of data.
To finalize your work, save the data also in the permanent memory
(flash) of the VRPD card.
See also: “Save”.
See also: “Set parameters to memory”
4.2
Main Menu
These include:
n
The title bar
n
The menu bar
n
The toolbar
n
The status bar
Fig. 18 BODAC main menu
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User interface BODAC - General 4
Title bar
The title bar contains the name of the program/window and several standard Windows
buttons. Information about the standard Windows buttons can be found in your
Windows online help.
Menu bar
The menu bar lists all the menus and commands available in BODAC.
The following menus are available:
n
File menu
n
Controller menu
n
View menu
n
Configuration menu
n
Options menu
n
Application Window menu
n
Windows menu
n
Help menu
BODAC toolbar
The toolbar contains buttons with symbols (icons) execute the most commonly used
functions, invoke commands or open windows when clicked on with the mouse.
Following is a list of the available functions:
Generates the “Offline” command, which breaks the connection to the
controller card. The symbol is only visible if there is an active connection to
the card.
Generates the “Connect” command. The symbol is only visible if there is no
active connection to the card.
Opens the “Open” window, where you can select stored BODAC data files.
Opens the “Save file as” window, in which you can save your entries.
Opens the "Analog in-/outputs“ (“Analog I/O”) window.
Opens the "Status“ window.
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User interface BODAC - General 4
The “Read parameters” command reads the data (parameter set) stored in
the working memory of the VRPD and passes the set to the BODAC
program.
The “Write parameters” command sends the current data (parameter set)
from BODAC to the working memory of the VRPD.
The “Set parameters to memory” sends the VRPD parameter set from
working memory to permanent memory.
Opens the "Language“ window.
Opens the "Print forms“ window.
Opens the "Structure“ window.
Opens the "Command Adjustment“ window.
Opens the "Command values“ window.
Opens the "Digital I/O“ window.
Opens the " Motion Data“ window.
Opens the "Test jacks“ window.
Window toolbar
The Window toolbar contains buttons with symbols (icons) execute the most
commonly used functions, invoke commands or open windows when clicked on with
the mouse.
Following is a list of the available functions:
see 4.2 “Read Parameters”
see 4.2 “Write Parameters”
Clicking on this symbol writes only the parameter value you have just
changed to the card.
The “Set parameters to memory” sends the current data from BODAC
to the memory chip of the controller card.
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User interface BODAC - General 4
If you are in an entry field, you can click on the symbol “+” to increment
the field contents. Simultaneously BODAC writes this parameter to the
card.
Exception: Multiplot, see “Multiplot toolbar”
If you are in an entry field, you can click on the "-" symbol to
decrement the field contents. Simultaneously BODAC writes this
parameter to the card.
Exception: Multiplot, see “Multiplot toolbar”
The Undo symbol in the toolbar nullifies the last entry.
Clicking on the oscilloscope symbol in the toolbar opens the BODAC
window “Multiplot”.
To show signals in the Multiplot window, open the Motion Data window
and click on the name of the desired signal. The name of the signal is
highlighted in red to indicate that it is selected for display in the
Multiplot window. Then click on the oscilloscope symbol in the toolbar
to open the Multiplot window. The signals you selected will be
displayed.
You can also select more signals once the "Multiplot" window is
opened.
A maximum of 8 signals can be selected.
Clicking on the printer symbol in the toolbar opens the Windows
system window “Print”.
The Help symbol in the toolbar generates a help pointer. Clicking with
the help pointer on a parameter field opens the help for this parameter
field.
The Data Log symbol in the toolbar generates a file with the extension
“.log” in which all motion data are stored.
Status bar
The status bar contains useful information about the active window. For example the
main menu shows the current connection status.
Short cut list
You can also invoke important functions using the function keys on the keyboard. The
function keys are defined as follows:
F1
F2
Opens BODAC Help (see also “Help menu”)
Reads the currently saved data in the controller card and sends them
to the BODAC program. (see also “Read Parameters”)
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User interface BODAC - General 4
F3
F11
Sends the settings and entries you made to the card and overwrites
the previously saved data in volatile memory. (see also “Write
Param eters”)
If you are in an entry field, you can press “F11” to increment the field
contents. Simultaneously BODAC writes this parameter to the card.
F12
If you are in an entry field, you can press “F12” to decrement the field
contents. Simultaneously BODAC writes this parameter to the card.
Pagedown
If you are in the structure editor in the entry field block, you can use
“Page down” to increment the field contents. This then opens the next
higher block.
If you are in the structure editor in the entry field block, you can use
“Page up” to decrement the field contents. This then opens the next
lower block.
Pageup
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BODAC – Menu Description 5
5
BODAC – Menu Description
5.1
File menu
The “File” menu contains commands for administering and printing data.
Fig. 19 “File” menu
Open
Opens a window in which you can load the complete parameter structure that you
previously created and saved in BODAC. The profile contains all the values and
parameters you specified and entered before saving in BODAC.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the window in which you can select the saved data files. A
list of existing shortcuts for the toolbar can be found in Section 4.2
“BODAC Toolbar”.
Save
Opens a window in which you can save all the data you entered and specified while
working with BODAC under a file name of your choice. This creates a file you can use
to send the functionality of this card to additional cards. The file has a “.param”
extension.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the window in which you can save your entries. A list of
existing shortcuts for the toolbar can be found in Section 4.2 “BODAC
Toolbar”.
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BODAC – Menu Description 5
Save the complete parameter structure after installation is complete!
When replacing a defective card you can transfer the existing
param eter structure to the new card. This card is then immediately
ready for use with all previously defined parameters and value
settings. You can also send already defined parameter structures to
comparable or similar applications.
Printer Setup
This menu point opens the standard Windows “Printer Setup" window. Information
about setting up a printer can be found in your Windows online help.
Print
This menu point first opens the “Print” window as shown in the following illustration.
Fig. 20 “Print” window
The window is divided into several columns. In the Print column you select the data
sheet you want to print. If more than one data sheet is available for a form, select the
number of data sheets to print under Options.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Print” window. A list of existing shortcuts for the toolbar
can be found in Section 4.2 “BODAC Toolbar”.
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BODAC – Menu Description 5
Clicking on the “Print” button takes you to the standard “Print” window of Windows.
Information about the Print window can be found in your Windows online help.
Quit
Closes all currently opened windows and quits the BODAC program.
5.2
Controller menu
The “Controller” menu contains commands for direct communication with the card.
These commands are used to send or receive data to and from the card.
Fig. 21 “Controller” menu
Offline
Closes the connection to the card. The “Offline” command is only selectable if there is
an active connection to the controller card.
Clicking on the preceding icon, which is a component of the toolbar,
also generates the “Offline” command. The symbol is only visible if
there is no currently active connection to the card. A list of existing
shortcuts for the toolbar can be found in Section 4.2 “BODAC Toolbar”.
Connect
Opens the connection between BODAC and the VRPD. The “Connect” command is
only selectable if there is no active connection to the card.
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BODAC – Menu Description 5
Clicking on the preceding icon, which is a component of the toolbar,
also generates the “Connect” command. The symbol is only visible if
there is no currently active connection to the card. A list of existing
shortcuts for the toolbar can be found in Section 4.2 “BODAC Toolbar”.
Search Card
The command “Search Card” opens the window “Search Card”, searches for active
cards on the local bus and lists them in a tabular form.
Fig. 22 Window “Search Cards“
Start Search
Connect
Cards are searched for on the local bus.
Bodac connects to the selected card.
Offline
Bodac changes over to the offline mode and closes the connection with the active
card.
Cancel
The search for cards is interrupted, and Bodac maintains the connection with the
active card.
In the first column “ID“ the bus address of the card is shown. The master bus address
is not listed, but must differ from the bus addresses of other cards.
The second column “Mat. Nr.“ includes the material number of the card and the
version number of the configuration. (see “Card Information“).
The third column “Description“ shows the text presented on the display. This text can
be changed in the window “Card Information“.
Read parameters
The “Read parameters” command reads the data (parameter set) stored in the
working memory of the controller card and passes the set to the BODAC program.
Clicking on the preceding icon, which is a component of the toolbar,
also reads out the data stored in the card and sends them to the
BODAC program. A list of existing shortcuts for the toolbar can be
found in Section 4.2 “BODAC Toolbar”.
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BODAC – Menu Description 5
Write Parameters
The “Write parameters” command sends the settings and entries you made to the
controller card and overwrites the previously saved data in volatile memory.
NOTE!
The new data is available as long as the card has power.
If the card is disconnected from its power source, the data will be lost.
To save data permanently on the controller card, read the section “Set parameters to
memory”.
Clicking on the preceding icon, which is also a component of the
toolbar, also sends the settings and entries you made to the card and
overwrites the previously saved data in volatile memory. A list of
existing shortcuts for the toolbar can be found in Section 4.2 “BODAC
Toolbar”.
Set parameters to memory
Sends the current data available in BODAC to the cards flash memory. This saves the
data to the non-volatile memory of the card so it is still available after a power
interruption.
The preceding icon, which is a component of the toolbar, sends the
current data from BODAC to the card non-volatile memory. A list of
existing shortcuts for the toolbar can be found in Section 4.2 “BODAC
Toolbar”.
Language
The “Language” menu point contains the following options:
n
English
n
Deutsch
Clicking on the preceding icon, which is a component of the toolbar,
opens a selection menu in which you can also select the language. A
list of existing shortcuts for the toolbar can be found in Section 4.2
“BODAC Toolbar”.
English
Displays all the entries, windows, menus, etc. in English.
Deutsch
Displays all the entries, windows, menus, etc. in German.
NOTE!
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BODAC – Menu Description 5
The software language selection also affects the language version of
your card.
The menu tree operated by the buttons on the front panel of your card
is also switched over to the selected language.
The language selection is stored in the card.
Card information
Opens the “Card information” window where all the relevant data for the card are
displayed.
Fig. 23 “Card information” window
Card information –
File menu
The File menu in the “Card information” window corresponds to the BODAC main
window “File menu”.
Card information –
Controller menu
Contains commands for reading, writing and modifying parameters.
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BODAC – Menu Description 5
Card information –
Help menu
Takes you directly to the help for the current topic, or to the contents page of the
BODAC windows help.
In the upper section of the “Card information” window you will find the manufacturer
data which provides exact specifications for your controller card.
Keep the following information handy for when you need to contact product support:
Versions
n
Product (contains the unique product number of your card).
n
Mat.-Nr. (contains the material number of your card.)
Here the hard- and software used is listed in detail.
Serial number
In these areas you will find information which exactly specifies your controller card
hardware. Keep this information handy for when you need to contact product support.
Comments
You can enter relevant comments in the entry field, including information pertaining to
your application or settings.
Display Text
This field contains a standard text filled in by Bosch Rexroth. The text entered here is
shown in run mode as a scrolling text on the card display. You can choose to display
this text, use a text you have entered yourself, or use a signal of your choice.
Have the information in this window ready if you need to contact us.
5.3
View menu
The “View” menu contains the “Status" command you can use to open the "Status"
window.
Fig. 24 “View” menu
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BODAC – Menu Description 5
Status
This menu item opens the “Status” window, which provides an overview of the current
faults which were detected while the controller card was operating.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Status” window. A list of existing shortcuts for the
toolbar can be found in Section 4.2 “BODAC Toolbar”.
Fig. 25 “Status” window
OK
Remains green as long as no fault has been detected.
Fault
Remains yellow when a fault has been detected. If a signal you want to monitor is set
to “Flag” in the “Faults” window, operation of the card is not interrupted. The fault is
recognized, saved and processing continues.
STOP
Lights up red when a fault has been detected. The controller card stops the process.
Set the monitored signal in the “Faults” window to “Stop”.
Voltage, Current,
Ramp+, Ramp-
A fault is generated if the connected signal is outside the pre defined range. The
range fort he connected signals is defined in the Analog I/O window using „Min Fault“
and „Max Fault“.
LVDT secondary, LVDT primary
A fault is indicated if there is a cable break or short circuit on the LVDT transducer for
the proportional valve.
Control error
Short circuit SOL a+b
Checksum memory
memory
24V power
The Control error is larger than the WINDOW specified in the „Digital I/O“ window
under Control error.
A fault is indicated if there is a short circuit on the proportional valve solenoid.
The checksum for the memory chip shows a deviation from the currently stored data
in the chip.
Error indication that the RAM chip in the controller card is defective.
An error is indicated if the supply voltage is absent or incorrect. (short circuit or
overload caused by other connected consumers)
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BODAC – Menu Description 5
+/-10V Reference
Short circuit DO1 to DO7
Status –
Help menu
A fault is indicated if the reference voltage +/-10 V on the edge connector deviates by
0.5 %.
Error indication for digital outputs 1 through 7 when there is a short circuit on one of
the outputs.
Takes you directly to the help for the current topic, or to the contents page of the
BODAC windows help.
Fault History
The window “Fault History” provides an overview of the last 16 faults occurred.
Fig. 26 “Fault History” window
Description
Fault Time
AckTime
Listing of the fault in clear text. The texts correspond to the fault texts in the “Status”
window
Time when the fault was recognized. The timer starts when the enable is set and
stops when the enable is reset.
Time, when the rectification of the fault was recognized. In this case, the enable must
be set.
The timer runs only when the enable is set.
Errors are only recognized while the enable is set.
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BODAC – Menu Description 5
5.4
Configuration menu
The “Configuration” menu contains the “Analog I/O” command which you use to open
the window for configuring the analog inputs of the controller card.
Fig. 27 “Configuration” menu
Analog I/O
The “Analog I/O” window is where you make the settings for all analog inputs on the
card.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Analog I/O” window. A list of existing shortcuts for the
toolbar can be found in Section 4.2 “BODAC Toolbar”.
Fig. 27 “Analog I/O" window
“Inputs” field
The first column in the Inputs field lists the names of the analog inputs.
In the following columns the parameter values for the analog input signals are
specified.
The Voltage input (b14/b16) can not be configured as Current.
The Current input (b24/b26) can not be configured as Voltage.
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BODAC – Menu Description 5
Assignments are made with the mouse button. Clicking on the “Type" entry field
opens a selection field containing the following:
Type
n
n
n
Range
+/-10 V
The expected input signal varies in a range of (–10 V) to (+10 V).
0~10 V
An input signal of from (0 V) to (+10 V) is expected.
4~20 mA
The current level of the input signal varies between (4 mA) and (20 mA).
The “Range” column is where you enter the signal value range in [%]. A signal of (10V) for a range setting of ±100% corresponds to a signal of (-100%).
The relationship is shown in the graphic below
Min
Max
The “Min” setting is used to limit the minimum input signal to a value you determine
within the type range (±10 V). For example, a value of (-5 V) means the signal (-5 V) is
interpreted as (-100%) range (see Fig. 41 Analog I/O - Input adjustments).
The “Max” setting is the opposite of “Min”. For example, a value of (+9 V) means the
signal (+9 V) is interpreted as (+100%) range (see Fig. 41 Analog I/O - Input
adjus tments).
Min fault
The setting for the value “Min Error” is used to specify the minimum error. When the
signal falls below this entered value, BODAC uses the “Status” window to indicate that
a fault has occurred if the fault is activated in the “Faults” window.
Max fault
The setting for the value „Max Error” is used to specify the maximum error. When the
signal exceeds this entered value, BODAC uses the “Status” window to indicate that a
fault has occurred if the fault is activated in the “Faults” window.
Max unit
The “Max Units” setting specifies the value range of the signal in units [Unit].
The following example shows in table and graphic form the parameters for a signal
adjustment in the Inputs field.
Max [V]
100
Max Unit
[Units]
9
-10
10
-100
100
100
-5
9
Max [V]
-Min [V]
-5
-100
Min [V]
Max Unit
[Units ]
-100
analoge_ea_diag
Fig. 28 Analog I/O input adjustments
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BODAC – Menu Description 5
Local Bus
In the window “LocalBus Hardware”, you can set the bus address of the amplifier card
for the local bus.
The local bus is used to connect the individual amplifier cards of the HACD family.
Fig. 29 Window "LocalBus Hardware"
Local Bus –
File menu
Local Bus –
Controller menu
The File menu in the window “Local Bus” corresponds to the BODAC main window
“File” menu.
Contains commands for reading, writing and modifying param eters.
Local Bus –
Help menu
Takes you directly to the help for the current topic or to the contents page of the
BODAC windows help.
Local Bus –
Toolbar
Buttons are provided for frequently used functions. They are described in "Toolbar of
a window".
Up to 32 cards can be connected. Each amplifier must be assigned a clear bus
address.
The connection is established using a CAN protocol with a baud rate of 250kbit. The
maximum length of the most distant amplifier cards must not exceed 280m. Moreover,
the maximum length of the branch lines of 1 m must be observed.
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BODAC – Menu Description 5
Fig. 30 Schematic structure of “Local Bus“
Data is to be transmitted via a shielded twisted-pair cable.
Two bus terminating resistors of 120 Ohm are required.
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BODAC – Menu Description 5
5.5
Tools menu
In the “Tools” menu you adjust the settings of the BODAC program for communication
with the card to your special needs.
Fig. 31 “Tools” menu
In the submenu “Preferences” you change the parameters for the communications
interface between PC and controller card, the access rights and the behavior for data
synchronization with the card. The submenu “Utilities” contains update functions and a
function for resetting the card to its default settings.
Preferences
Com
The “COM“ window is the dialog window for configuring the serial port.
Fig. 32 “Com” window
Connect with Serial Port
Serial Port
Timeout
Select the radio button “Connect with Serial Port” if you want to connect with the PC to
the VT-VRPD using the Serial Port connection.
With the “Serial Port“ entry field the user specifies which serial port of the PC is used
to communicate with the controller card.
The “Timeout“ field is the delay for “Cable break” detection by BODAC. This value can
be changed in Security Level 2.
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BODAC – Menu Description 5
Use Modem to Connect Select the radio button “Use Modem to Connect” if you want to connect with the PC to
the VT-VRPD remotely using a modem connection.
Modem Port
With the “Modeml Port“ entry field the user specifies which serial port of the PC is
used to communicate with the controller card using a modem connection.
Timeout
The “Timeout“ field is the delay for “Cable break” detection by BODAC. This value
should be at least 1500 ms.
Phone Number to Dial
The “Phone Number to Dial” field is used to enter the phone number of the remote
modem.
Modem Initialization Commands
AT commands are stringssent to the modem connected to the PC to configure it
before dialing. There is a basic command set, the Hayes Command Set, that most
modems have implemented (For more information refer to
http://en.wikipedia.org/wiki/Hayes_command_set ).
For specific information regarding commands that are used in your modem please
refer to the modem manufacturer documentation. At a minimum the modem codes
should be set to numeric(ATV0) and the results codes should be set to 0(ATX0).
Opens a file with previously saved Modem Initialization Commands
Saves the Modem Initialization Commands listed in the window.
Fig. 33 Modem configuration
Configuration of the modems
In order to communicate successfully both the local and remote modems need to be
configurated. The VRPD communicates at a defined baud rate; therefore the modem
connected to the VRPD must be configured to communicate at the VRPD baud
rate.Setting of the baud rate that matches the VT- VRPD baud rate can be achieved
using dipswitches or AT commands depending on the modem being used (For details
regarding setting of the modem baud rate please refer to the modem documentation)
Local Modem connection:
With an external modem a standard serial cable is used. The local modem must be
set to return numeric results (Hayes Command ATV0) and basic results codes (Hayes
Command ATX0). Depending on the modem used this can either be accomplished
through dip switches on the modem or through the use of Hayes Commands.
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BODAC – Menu Description 5
Remote Modem connection:
The external remote modem must be able to answer incoming calls.The connection
between the remote m odem and the VT-VRPD card must be a NULL modem cable.
The remote modem must be configured to auto answer an incoming call (Hayes
Command ATS0=1 => sets auto answer to 1 ring). The remote modem DTR (Date
Terminal Ready) should be set to override (Hayes Command AT&D0), because
otherwise the modem will not answer since the VT-VRPD does not control the DTR
line.
NULL modem cable
Signal Name
DB-9 Pin
DB-9 pIN
Signal Name
TD (Transmit Data)
3
-
2
RD
RD (Receive Data)
2
-
3
TD
SG (Signal Ground)
5
-
5
SG
It is recommended that a Winview recording is used when monitoring
actual signals. The communication speed due to the modem connection
is not fast enough to get the required resolution.
Establishing the connection using this method will take some. After the
connection is established BODAC can be used as if there were a direct
serial connection to the card although the communication rate is
significantly lower.
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BODAC – Menu Description 5
Options
The "Options" window defines the frequency and type of data transmission to the
controller card.
General
Fig. 34 “Options, general” window
In this window, you can select, which monitoring routines are to be executed
automatically by BODAC after a change of data.
WRITE TO CONTROLLER PROMPT: If settings or parameters were changed in
BODAC without having been saved in the controller card, BODAC can show a
corresponding warning window:
- On closing the window, in which changes were made
- On BODAC closing
SET TO MEMORY PROMPT: When changed values are written to the controller, they
are only saved in the volatile memory of the controller card. For permanent saving, the
data must be set to the memory. Here, you can set, when BODAC saves the values
automatically in the permanent memory of the controller card:
- Every write to controller.
- On form closing.
- On BODAC closing.
With the selection “Automatically write changes to the controller before setting to
memory“, you make sure that the parameters changed by you in BODAC are
transmitted before they are saved in the permanent mem ory of the controller.
If you deactivate these monitoring functions, you can nevertheless
ensure that changed parameters are written to the controller card and
saved in the permanent memory at least at the end of commissioning.
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BODAC – Menu Description 5
Fault Monitoring
Fig. 35 “Fault Monitoring, Options” window
The operator program BODAC queries at regular intervals the fault states of the
controller card. This interval can be set here.
Table Screen
Fig. 36 “Options, Table Screen” window
Here, you can select the basic settings for the function “write table to controller“.
When the “Table“ screen is closed before the tables were written to the controller, the
tables are automatically written to the controller with this setting.
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BODAC – Menu Description 5
MultiPlot
Fig. 37 Window "Optionen, MultiPlot"
Please select here the default line size of the MultiPlot in your Motion data display.
File Paths
Fig. 38 Window "Optionen, File Paths"
Here, you can determine the basic paths for saving parameter files and reading
update files.
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BODAC – Menu Description 5
Security
Five security levels are available for using BODAC. This allows the BODAC users to
be divided into groups ensuring that only qualified and trained personnel can change
critical settings.
The security levels are defined as follows:
n
Level 4 = Bosch Rexroth AG
n
Level 3 = Bosch Rexroth AG
n
Level 2 = Customer
Default password “2“
n
Level 1 = Customer
Default password “1“
n
Level 0 = Customer
WARNING!
The restrictions for settings and changes to parameters and process
data have been established for your own security!
Do not attempt through program manipulation or changes of any
kind to defeat the security levels.
Personal injury and severe damage to components can result if
the card no longer functions correctly due to improper
intervention.
Such actions will also void any warranties and/or liability on the
part of the manufacturer!
Please document the assigned passwords for yourself and your
customers.
Login
The BODAC software always starts up on Level 0.
A user can enter the password he has received for his user group in the “Login”
window. After successfully logging in, any changes to settings and parameters
allowed for this group can be made.
Fig. 39 “Login” window
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BODAC – Menu Description 5
Passwords
In the “Passwords" window you assign the associated password of your choice to the
defined security levels.
Fig. 40 “Passwords” window
If the BODAC software is in Level “2”, the following window opens. In this window you
can assign a password for the display on the front panel of the controller card.
Fig. 41 “Passwords” Level 2 window
No changes can be made using the display or pushbuttons without knowledge of this
password , only the set values can be displayed.
Configure screens
In the “Security : Configure screens” window you specify which user group is given
access to the various BODAC windows.
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BODAC – Menu Description 5
Fig. 42 “Security :Configure screens” window
You can use the fields assign security levels. In the “View” and “Set” column you
determine which user group is permitted to open certain windows for viewing only or
which is entitled to change parameters.
Utilities
Upload firmware
Program changes (updates) from BODAC are in the form of files (SRecord Files) with
the suffixes:
n
.hcd
n
.jmt
n
.pkg
Click on the menu item “Upload firmware”, and in the resulting “Open” window you
can select the update file. The BODAC program guides you through the following
steps until the program changes are complete. This utility is only available when the
USER is ONLINE with the controller.
Use Default Parameter Data
Resets the values and parameters for the card to their factory default settings.
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BODAC – Menu Description 5
WARNING!
When you reset the values and parameters to their defaults, all the
current data will be lost!
5.6
Application Window menu
Fig. 43“Application Screens” menu
Structure
Configuring inputs and active components of the structure can be done in this window.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Structure” window. A list of existing shortcuts for the
toolbar can be found in Section 4.2 “BODAC Toolbar”.
See also: Section 3.4 “Configure profiles”.
Command adjustment
In this window the command can be adjusted for the specific characteristics of the
applied valve.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Command Adjustment” window. A list of existing
shortcuts for the toolbar can be found in Section 4.2 “BODAC
Toolbar”.
See also: Section 3.6 “Valve configuration”.
Commands
Opens the "Commands“ window for parameterizing the command values.
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BODAC – Menu Description 5
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Command values” window. A list of existing shortcuts
for the toolbar can be found in Section 4.2 “BODAC Toolbar”.
See also: Section 3.4 “Configure profiles”.
Digital I/O
Opens the window „Digital I/O“.
Clicking on the preceding symbol, which is a component of the
toolbar, also opens the „Digital I/O“ window. A list of existing
shortcuts for the toolbar can be found in Section 4.2 „BODAC
Toolbar“.
Fig. 44 Window „Digital I/O“
Outputs
Defines under what conditions the Digital Outputs are set. DO1 – DO3 conditions are
pre-defined and can not be changed. DO4 – DO6 can be configured as follows:
n
OFF
The Digital Output is not active.
n
LVDT>=WINDOW
The actual value exceeds or is equal to a set value (WINDOW).
n
LVDT<=WINDOW
The actual value is less than or equal to a set value (WINDOW).
n
Ramp done
The Ramp is done.
n
Fault Analog Inputs
A fault concerning the analog inputs has been detected. If the user wants to use
this condition to set an output the respons e of this fault has to be set to “Flag” in
the “Fault” window. For detailed information on configuring the “Fault” window
please see also Section 3.5 „Configure Profile”
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BODAC – Menu Description 5
n
ABS(LVDT)<=WINDOW
The spool is in the zero position. A tolerance for the zero position (here
“WINDOW”) of the valve is needs to be configured.
n
Fault Status
The present fault is output as a combination of pulses. The output can be fed to
an optional output DO1 to DO7 depending on the configuration.
Depending on the selection of the pull-down menu the entry fields „WINDOW“ and
„Debounce” appear. “WINDOW” has to be configured with the value for the selected
condition. “Debounce” has to be configured with the time the fault condition has to be
present before the Digital Output is set.
The last column presents the opportunity to invert the signal.
Fault Status
Fault code
Fault
1
Range error for analog input Al1.
2
Range error for analog input Al2.
3
Range error for analog input Al3.
4
Range error for analog input Al4.
5
Range error for analog input Al5.
6
Range error for analog input Al6.
7
Not used.
8
Not used.
9
LVDT secondary side.*
10
Not used.
13
Short Circ Solenoid.*
14
LVDT primary side.*
15
Not used.
16
Not used.
17
Error block timeout.
18
Not used.
19
Block error.
20
Control error Loop 1.
21
Control error Loop 2.
22
Not used.
23
Parameter file checksum error .
24
Not used.
25
24V supply voltage fault.
26
Reference voltage fault.
27
Fault short-circuit of digital output DO1.
28
Fault short-circuit of digital output OK.
29
Fault short-circuit of digital output DO2.
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BODAC – Menu Description 5
30
Fault short-circuit of digital output DO3.
31
Fault short-circuit of digital output DO4.
32
Fault short-circuit of digital output DO5.
33
Fault short-circuit of digital output DO6.
34
Fault short-circuit of digital output DO7.
35
Fault, maximum frequency of incremental encoder
exceeded.
36
Not used.
37
Bus fault, master not active (CANOpen, DeviceNet).
38
Not used.
39
Not used.
40
Not used.
41
Not used.
42
Not used.
43
Not used.
44
Not used.
45
Not used.
46
Not used.
47
Not used.
48
Cable break sol. A
49
Cable break sol. B
The fault code is issued as follows:
Tens digits : A long pulse of 2 seconds
Ones digits: A short pulse of 0.5 seconds
The fault code is repeated after a break of 5 seconds.
The figure below shows fault code 18 (fault of SSI encoder cable).
Fig. 45 Example: Output of a fault code via a digital output
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BODAC – Menu Description 5
Inputs
If „Enable set OK“ is selected the „OK“ signal is high only when there are no Faults
and the Enable is high.
Motion Data
The “Motion Data” window shows the entire signal sequence of your control loop in
real-time.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Process display” window. A list of existing shortcuts for
the toolbar can be found in Section 4.2 “BODAC Toolbar”.
Fig. 46 “Motion Data” window
A detailed description on the Motion Data window is available in the section “Testing
the application settings „
Motion Data –
File menu
The Menu file in the „Structure Summary“ window corresponds to the BODAC main
window “File Menu“.
Motion Data –
Help menu
Takes you directly to the help function for the current topic, or to the contents page of
the BODAC windows help.
Motion Data –
Toolbar
Buttons are provided for frequently used functions. These are described in section
“Toolbar“.
Motion Data –
Toolbar
Clicking on the oscilloscope symbol in the toolbar opens the BODAC
window “Multiplot”. For more detailed information see section
“Multiplot”.
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BODAC – Menu Description 5
The Data Log symbol in the toolbar generates a file with the extension
“.log” in which all motion data are stored.
Clicking on the preceding icon, which is part of the toolbar also opens
the "WinView recording“ window.
Creating a log-file
To create a log-file in table form of all the signals in the „Motion Data“ window for a
certain amount of time the following needs to be done:
Ø
Click on the Data Log icon.
Ø
This will open an explorer window in which the user has to specify the file-path
and the filename of the log-file. Confirm the selection by clicking on „Save“.
Ø
A window will appear that will ask fort he duration of the logging. Please enter the
log-time in seconds .
Ø
After confirmation by clicking the OK button the window will close. On the right
side in the status bar of the “Motion Data” window the progress of the logging
activity can be monitored.
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The data is stored as a table in the log-file seperated by semicolon. There are multiple
programs available on the market today that can import this format. In the following
steps an import of the log-file into Microsoft Excel is explained:
Ø
In the “File” drop down menu click on „Open“. In the window that opens choose
“All Files (*.*)“ for File of type. Select the log-file that has the recorded data.
Ø
A Text-import wizard will open. Select „Delimited“ in the Original Data Type
section and click “Next”.
Ø
Select “Semicolon” as delimiter and click „Finish“.
Ø
The result is a table with all the signals of the “Motion Data” window. The first
column is filled with an increasing number that represents the sample number
and the second column has the tim e in seconds.
Multiplot
In the multiplot window the signal trace of selected signals are represented in
graphical form. To open the “Motion Data Multiplot“ window, click the icon in the
toolbar of the “Motion Data“ window“. The Motion Data Multiplot represents the
signals, which you selected before in the Motion Data window with the mouse button.
Fig. 47 “Multiplot” window
The window is a convenient software representation of an oscilloscope. The signal
display is a graphical representation of the signal over time.
Multiplot toolbar
The toobar contains buttons which you can click on to execute all the functions of the
real-time oscilloscope.
Fig. 48 Multiplot – Toolbar
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Following is a list of the included functions:
Opens the “Save file as” window, in which you can save a signal plot
as a file having the suffix “.plt”. The file can be loaded again as
needed. You can also import the file in Excel.
Opens the “Open" window, in which you load a previously saved signal
plot into the Multiplot window.
Opens the "Open new plot“ window.
Starts the logging process and display of the signal plot for the
selected signals.
Stops logging of the signal plot and freezes the current display until the
plot is activated again by clicking on the “Start” button.
Moves the signal display from right to left. The plot is dis played in
scroll mode.
The signal display is fixed. The signal plot begins left and ends at the
right border in constant repetition.
All selected signals are shown together in one signal display.
Each signal is shown in its own signal display.
Generates a screenshot of the current display of the multiplot window.
Opens the “Save file as” window, in which you can save the
representation of the signal plot in a Windows Meta File (WMF file).
The file is then usable in virtually any common word processing or
graphic program.
Opens the "Print“ window. You get a printout of the multiplot window.
Opens a window in which you can use two selection menus to add
analog and digital signals to the display.
Opens a window in which you can delete a selected signal from the
multiplot window.
You select a signal for deletion by clicking on its name in the “Signal
display legend”. The signal is then highlighted with a white
background. Non-selected signals are shown with a gray background.
Shows two cursors on the signal plot of the represented signals. When
you select a signal in the “Signal display legend”, you can use the
mouse or right/left arrow keys to go to the desired position of the signal
plot.
The coordinates are shown in the “Signal display legend” as X- and Ycoordinates.
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Deletes the cursors for the X and Y coordinates from the signal
display.
Opens a window in which you can set the start condition for displaying
the signal plot. A selection menu is used to determine the signal for the
start condition. In the “Trigger Units” entry field the value of the trigger
parameter in units [Unit] is entered. This value is used to start the
signal plot.
1 s/div
The signal display is shown in X- and Y-coordinates with green grid
lines. The X-coordinate division can be changed by clicking on the
preceding field. In the current representation the signal travels 1
division in the X direction in one second.
To learn how to change the division of the Y-coordinate, refer to
section "Multiplot signal display legend".
Increases the current Timebase setting with one step. If the current
setting is 1s/div this function would increase the X-axis to 500ms/div.
Decreases the current Timebase setting with one step. If the current
setting is 1s/div this function would decrease the X-axis to 2s/div
The user can zoom in on a selected area of the Multiplot window.
Reset the multiplot back to its original size.
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BODAC – Menu Description 5
Multiplot signal display legend
The signal display legend shows the relevant information for the represented signals
in tabular form.
Fig. 49 Real-time oscilloscope – Signal display – Legend
Parameters
In the Parameters column the signals are shown with their names. Clicking on a signal
name changes the background to white. This means the signal is selected.
Double-clicking on a signal name opens the “Adjust ” window.
Fig. 50 “Adjust graphs” window
In the “Adjust graphs” window you change the graphical display of the selected signal.
Clicking on the "Color" field opens a color table from which you can select a new
display color.
The “Thickness” field contains a selection menu for changing the line thickness of the
signal.
In the “Min” and "Max" fields you enter the scaling in the Y-direction of the signal
display for the selected signal.
The current parameter value is displayed in the signal display legend following the
signal name.
Color
The Color column is used for selecting the display color in order to ensure proper
association and recognizability in the signal display.
X1/Y1
The “X1” and “Y1” columns are directly related to the “Show cursor” button. If you
move Cursor 1 to a certain place in the signal plot, you can read off the X/Y
coordinates of the displayed signal in the X1/Y1 column.
X2/Y2
In the “X2”/”Y2” column you read off the coordinates of Cursor 2.
dX/dY
The “dX” (delta X) and “dY” (delta Y) columns show the difference between the X and
the Y values.
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BODAC – Menu Description 5
Winview recording
Fig. 51 “Winview Recording” window
Winview recording –
File menu
Winview recording –
Help menu
Corresponds to the BODAC main window “File Menu”
Winview recording –
Toolbar
Buttons are provided for frequently used functions. These are described in section
“Toolbar“.
Takes you directly to help for the current topic or to the contents page of BODAC
windows help.
The designation of the signals corresponds to the representation in the BODAC
Structure Editor, in which they are clearly represented on the basis of the input matrix,
the block matrix, the loop matrix and the output matrix.
Further information about the designation of signals that can be selected in BODAC
can be found in the chapter “Structure Editor”.
Trigger Setup
Recording Setup
Here, you can set the signal, which triggers the start of recording.
In this box you can set the conditions for signal recording. The number of points that
can be recorded is limited to 16384. This is valid for the total of all signals.
The record rate can be set within the range from 2ms to 32766ms. It is useful to select
only record rates that can be divided by 2.
The PreTrigger Points can be adjusted within a range from 0 to 163844ms. If the
trigger point occurs before the set pre-trigger points were recorded, fewer pre-trigger
points are shown on the signal display.
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BODAC – Menu Description 5
Faults
In this window you specify which error messages for the control circuit you want to
output and log.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Faults” window. A list of existing shortcuts for the
toolbar can be found in Section 4.2 “BODAC Toolbar”.
See also: Section 3.4 “Configure profiles”.
Test jacks
In the “Test jacks” window the signals can be assigned that are available for
diagnostic purposes on test jack “X1” and “X2” on the front panel of the controller
card.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Test points” window. A list of existing shortcuts for the
toolbar can be found in Section 4.2 “BODAC Toolbar”.
See also: Section “Check Process Settings ”
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BODAC – Menu Description 5
5.7
Windows menu
The Windows menu contains commands for saving and opening specified window
layouts. Already opened windows can be directly selected here.
Fig. 52 “Windows” menu
When the BODAC is first started, only the main window is shown after loading the
program. The “Save layout” function saves your current appearance of BODAC with
all the currently opened windows and window positions in a file. This allows you to
save preferred window combinations for working with BODAC and opening them at
any time.
Select an opened window
Already opened windows (e.g., Structure, see Fig. 45 “Windows” menu) can be
selected by a simple mouse click. This allows you to navigate quick and easy through
opened windows.
Save layout
The “Save layout” function saves your current appearance of BODAC with all the
currently opened windows and window positions in a file. This allows you to save
preferred window combinations for working with BODAC and opening them at any
time.
Open layout
Opens a window in which you can select files that contain saved layouts of BODAC.
After opening the file BODAC recreates the saved window combination.
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BODAC – Menu Description 5
5.8
Help menu
Online help for BODAC can be accessed as follows:
„
Press the F1 key.
or
„
or
Click on the Topics menu in the Help menu.
„
Click on the Help button in the active window.
Fig. 53 “Help” menu
In addition an informative text is displayed on the element you touch with your mouse.
About BODAC…
Information window which provides version information of BODAC.
Topics
Opens the overview of online help for BODAC, from which the user can navigate to
any available topic.
Examples
Opens online help for the application (see section 3 " Application: 4WRE6 / 4WRE10
valve control").
Bosch Rexroth AG
Hydraulics
Zum Eisengießer 1
97816 Lohr, Germany
[email protected]
www.boschrexroth.com
© 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 notrelease 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.
Printed in Germany
RE 30126-01-B/08.07
Replaces: 07.06

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