Servo Valves Servo Electronics
Vickers®
Servo Valves
Servo Electronics
Amplifiers, Power Supplies, Function Modules, and Controllers
Rev. 11/97
656
Introduction
Vickers amplifiers, power supplies, and
function modules provide a convenient
and economical package of electronics
for closed loop servo control.
These electronic components have
been specially designed and assembled
for high reliability and improved ease of
use. They can be applied in systems
utilizing Vickers servovalves and
proportional valves and may also be
used to control competitors’ valves.
supply units. The EEA series amplifiers
are designed for use in a standard rack
mount.
EM series power supplies and the SMC
20H controller are panel mounted. EM
series amplifiers and function modules
plug into fully compatible slots in the
EMRS-A-11 and EMP-A-20 power
For accurate and repeatable system
performance with assured component
compatibility, trust Vickers servo
electronics.
Contents
EM-D-30 Servo Amplifier with PID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
EM-K-10 Ramp Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
EM-J-10 Programmer Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
EMRS-A-11 Power Supply Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
EMP-A-20 Power Supply Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
EEA-PAM-591 Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
EEA Accessory Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
SMC 20H Two-Axis Hydraulic Position Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
 Eaton Hydraulics, Incorporated 2000
All Rights Reserved
EM-D-30 Servo Amplifier with PID
Circuit and Connections
INTEGRATOR
RESET
11
+12V
COMMON
SATURATION
LIMITER
4
ERROR LIMIT
ALARM
OPTOISOLATED
OUTPUT
5
6
IGAIN
RANGE
ERROR ADJ
VOLTAGE AMP
10
SUMMING
JUNCTION
±10
EITHER
GAIN= 1
OFF
+
S1–2
VOLTAGE AMP 8
INPUT 1
100K
VOLTAGE AMP 9
INPUT 2
1
250
A
B
RATIO
–12V
A
B
S3–3
I
S2–2
S2–3
+LIMITER ADJ
INTEGRATOR
PGAIN
S3–5
10K
100K
S1–3
+
–
A
1:1
GAIN
5:1
P
INPUT
BUFFER
PROPORTIONAL
POWER
STAGE
PRE-AMP
100K
DGAIN
RANGE
S2–4
S1–1
2
HIGH
100K
LOW
OFF
AC
DITHER ADJ
BIAS
ADJ
S3–2
B
S3–6
–20V
IGAIN
–LIMITER ADJ
INPUT ADJ
BIAS
–
CURRENT LOOP
INPUT 1
±4.20 max.
CURRENT LOOP
INPUT 2
LOW
3 COMMON
REGULATOR
S2–1
HIGH
S3–4
COMMAND
+20V
RESET
3
SATURATION
LIMITER
.8:1
1
POWER
STAGE
VALVE
COIL
CURRENT
FEEDBACK
2
2W
DGAIN
S2–5
S2–6
D
DIFFERENTIATOR
S3–1
VOLTAGE AMP OUTPUT V
51K
POWER STAGE PRE-AMP INPUT 1 4
51K
POWER STAGE PRE-AMP INPUT 2 5
POWER STAGE PRE-AMP OUTPUT 7
EM-D-30 CONTACTS – TERMINAL CARD
EMP-A-20, EMRS-A-11 TERMINALS
Operating Data
The EM-D-30 amplifier module is an
extended version of the EM-D-20
amplifier. It is functionally and pin for pin
downward compatible.
Adjustment of current limiters and bias
in the output stage allows the unit to
drive single-polarity and bipolar servo
valves as well as other current
controlled valves.
By selection of the appropriate switches,
inputs can be inverted in a number of
combinations, including the ratioing of
two inputs and the introduction of a new
current loop input.
Excessive following error or “in-position”
can be monitored by means of an
adjustable onboard detection circuit
which includes an opto-coupled output.
Inversion:
Each of the four stages of the EM-D-30
amplifier inverts the input polarity. Valve
output current can be inverted by input
inversion switches S1-1 and S1-2.
Reset:
When pin 11 is grounded, the integrator
reset function is activated causing the
integrator amplifier output to maintain
zero. An open on pin 11 restores normal
operation.
NOTE
With reset “ON”, the “P” and “D”
amplifiers still function normally.
3
Specifications
Power Stage
Output (pins 1 and 2)
±600 mA into 20 ohm load
Inputs 1 and 2:
Range
±10V DC
Absolute maximum
±36V DC
Bias range
±400 mA
Gain range
100 to 1600 mA/volt
Dither range
0 to 60 mA
Drift due to temperature
t0,4 mA/°C (0.2 mA/°F) at maximum
gain
Drift versus supply voltage
t0.001 mA/V at maximum gain at null
Warm-up drift (after 30 minutes)
t0.1 mA
Frequency response
3 dB down at 6 kHz, maximum gain
Power Pre-amp Stage
Output (pin 7)
±6V DC at 5 mA
Gain
1 to 15 V/V
Limiting
±0V DC to 6V DC
Voltage Amplifier Stage
Output (pin 6)
±10V DC at 2 mA
Inputs 1 and 2:
Range
±10V DC
Absolute maximum
±36V DC
Gain ranges
(ratio potentiometer centered):
Linear, low range
0.08 to 1.1 V/V
Linear, high range
0.5 to 3.5 V/V
Integrating, low range
1.5 to 21.5 V/sec-V
Integrating, high range
9.6 to 133 V/sec-V
Differential, low range
1.5 to 20 V-sec/V
Differential, high range
10 to 150 V-sec/V
Current loop
0 to 20 mA input
Drift due to temperature
t0.0002 V/V at maximum gain
Drift versus supply voltage
t0.0001 V/V at maximum gain
Warm-up drift (after 30 minutes)
t0.004V DC
Drift versus time (after 24 hours)
t0.005V DC
Error detection
Opto-coupled alarm output, error limit
adjustable from ±0 to 10V DC
Mass (weight)
 Vickers, Incorporated 1997
All Rights Reserved
2,2 kg (1 lb)
Installation Dimensions
RATIO
ERROR
IGAIN
DGAIN
PGAIN
GAIN
–LIMIT
INPUT BIAS
+LIMIT
DITHER
OUTPUT BIAS
millimeters (inches)
A
S1
B
3,0
(0.12)
Minimum
clearance
1 C1 2 C3 3
C2
1 2 3 4 5 6
S2
OPEN
1 2 3 4 5 6
S3
OPEN
89,0
(3.50)
9,7
(0.38)
32,5
(1.28)
62,0
(2.44)
32,5
(1.28)
127,0
(5.00)
1,57
(0.06)
30,0
(1.18)
Polarizing slot
5
EM-K-10 Ramp Module
Circuit and Connections
First
stage
output
Ramp
no. 1
input
Ramp
no. 2
input
Extended
ramp
input
EM-K-10
External
capacitor
Limiter
Ramp
no. 1
Ramp
no. 2
Output
51K
Input
Output
trim
Ramp module contacts
EMRS-A-11 or EMP-A-20 power supply unit terminals
Operating Data
Usage
The EM-K-10 ramp module converts
step changes in input signals to ramped
signals for smooth transition from one
operating level to another.
Ramping time can be adjusted from
virtually instantaneous response to 5
seconds for full range. Extended ramp
times can be obtained with additional
external capacitors. See specifications
and curves for details.
 Vickers, Incorporated 1997
All Rights Reserved
When used with an EM-D-30 servo
amplifier, the ramp module provides a
means of controlling speed in
positioning systems, acceleration and
deceleration in speed control systems,
and the rate of pressure change in
pressure control systems.
Design
The EM-K-10 consists of a linear circuit
capable of accepting 0 to ±10V DC step
input voltage levels. Two ramp rate
potentiometers allow adjusted ramp
rates between 0.03 and 0.5 seconds per
volt output change. Extended ramp
rates up to 25 sec/V output change can
be obtained by the addition of external
mylar or similar quality capacitors with a
50 volt or higher rating. The ramp rate
potentiometers are selected externally
by the use of a simple diode steering
circuit or contact closures.
In addition to the module mounted ramp
rate potentiometers, provision has been
made for the addition on an infinite
number of externally located ramp rate
potentiometers.
Specifications
Input voltage
–10V to +10V DC
Input impedance
51k Ohms
Output voltage
–10V to +10V DC
Output load impedance
5k Ohm minimum
Output current
2 mA maximum
Ramp rate adjustment
0.03 to 0.5 sec/V output change (with
external capacitors)
Independent ramp rate adjustments
Two potentiometers on module
Input/output relationship
±1% maximum input voltage
Extended ramp rates
Up to 25 sec/V output change (with
external capacitors)
Multiple ramp rates
Terminal available for external connection
of additional potentiometers and relays
Ambient temperature range
0° to 50° C (32° to 122° F)
Mass (weight)
0,45 kg (1 lb)
Extended Ramp Ranges
Ramp rates can be extended beyond 2
MFD by adding external capacitors
between terminals 1 and 2. The chart
shows recommended total capacitance
values. Subtract 2MFD from reading to
obtain external capacitor value.
Capacitors should be mylar or similar
quality with 50V or higher rating.
Recommended range
TOTAL CAPACITANCE VALUE – MFD
100
Maximum potentiometer setting
(fastest time)
5% potentiometer setting
(slowest time)
10
Internal capacitor only
(2 MFD)
1
0,01
0,1
1
10
100
RAMP RATE – sec/V
7
Application Circuit
Examples
Output
Single Ramp Rate Circuit
D Positive and negative input signals are
ramped up and down at one rate. Rate
is adjustable by ramp rate no. 1
potentiometer.
External
capacitor
(optional)
EM-K-10
Input
Common
Ramp module contacts
EMRS-A-11 or EMP-A-20 power supply unit terminals
Dual Ramp Rate Circuit with Diode
Steering Logic
D A positive-going input signal is ramped
up at a rate adjusted by ramp rate no. 1
potentiometer.
Output
D-1
D-2
External
capacitor
(optional)
EM-K-10
Input
D A negative-going input signal is ramped
down at a rate adjusted by ramp rate
no. 2 potentiometer.
(For D-1 or D-2 diodes, use
Motorola or General Instrument
IN 4003 or similar)
Common
Ramp module contacts
EMRS-A-11 or EMP-A-20 power supply unit terminals
Internal and External Ramp
Adjustments with Relay Logic
D 1CR energized: A positive- or
negative-going input signal is ramped
up or down at a rate adjusted by ramp
rate no. 1 potentiometer.
D 2CR energized: A positive- or
negative-going input signal is ramped
up or down at a rate adjusted by ramp
rate no. 2 potentiometer.
D 3CR energized: A positive- or
negative-going input signal is ramped
up or down at a rate adjusted by P1
potentiometer.
D 4CR energized: A positive- or
negative-going input signal is ramped
up or down at a rate adjusted by P2
potentiometer.
D Any number of ramp rates may be
obtained by adding additional resistor
or potentiometer combinations.
 Vickers, Incorporated 1997
All Rights Reserved
R2
P2
4CR
4CR
R1
P1
3CR
3CR
Output
2CR
1CR
Input
EM-K-10
External
capacitor
(optional)
P1 and P2 potentiometers:
10,000 ohm, 1/2 watt (each)
R1 and R2 resistors:
470 ohm, 1/2 watt (each)
Common
Ramp module contacts
EMRS-A-11 or EMP-A-20
power supply unit terminals
Performance Example
10
INPUT – volts
The following example charts
performance of the EM-K-10 with ramp
rate potentiometers no. 1 and no. 2
connected with diodes as shown on
page 8.
Ramp rate potentiometer no. 1 is set at
5% (0.5 sec/V). Potentiometer no. 2 is
set at 55% (0.1 sec/V).
5
0
–5
0
Ramp time = Ramp rate x Volts change
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
14
15
TIME – seconds
=
=
Second ramp time =
=
Third ramp time =
=
0.5 sec/V x 10 volts
5 seconds
0.1 sec/V x 15 volts
1.5 seconds
0.5 sec/V x 5 volts
2.5 seconds
5 sec
1.5 sec
2.5 sec
10
OUTPUT – volts
First ramp time
5
Ramp 1
Ramp 2
0
Ramp 1
–5
0
1
2
3
4
5
6
7
8
9
10
11
12
13
TIME – seconds
Installation Dimensions
millimeters (inches)
RAMP 1
3,0
(0.12)
Minimum
clearance
RAMP 2
1C AMP
1C AMP
88,9
(3.5)
2 MFD CAP.
9,5
(0.37)
A
S
10,0
(0.39)
3,0
(0.12)
9,6
(0.38)
62,7
(2.47)
76,2
(3.00)
9
EM-J-10 Programmer Module
Circuit and Connections
EM-J-10
500W
K1
K1
500W
R1
10KW
K2
K2
500W
R2
10KW
K3
K3
500W
R3
10KW
K4
K4
500W
R4
10KW
K5
K5
R5
10KW
220W
+14V DC
Programmer module contacts
EMRS-A-11 or EMP-A-20 power supply unit terminals
Operating Data
Design
Usage
The programmer module contains five
potentiometers, five DC reed relays in
dual inline packages, pilot lights for each
relay, and an internal power source for
the relays.
The EM-J-10 programmer module
provides up to five preset command
signals. When used with an EM-D-30
servo amplifier, the module provides a
means of presetting and selecting a
variety of positions, speeds, or forces in
closed loop servo systems. This module
must be installed in either a single-card
EMRS-A-11 or four-card EMP-A-20
power supply unit.
 Vickers, Incorporated 1997
All Rights Reserved
A relay is energized when one side of its
coil is connected to ground externally by
means of a switch or contact closure.
The potentiometer associated with the
relay is then connected to the output
terminal and sets the output signal level.
Only one command signal at a time can
be delivered by the module, even if two
or more relays are energized
simultaneously.
Specifications
Relays
12V, dual inline, reed type
Relay coil current
28 mA
Supply voltage
+20V DC nominal
Relay contact maximum rating
500 mA, 100V
Potentiometer type
10k Ohms, 22 turns
Potentiometer resistance element
Connected in parallel
Potentiometers wipers
Connected in series
Ambient temperature range
0° to 50° C (32° to 122° F)
Mass (weight)
0,45 kg (1 lb)
Application Circuit Example
Servo Control with
Five Preset Positions
This circuit controls an SM4 servovalve
and uses an EM-J-10 programmer
module along with an EM-D-30 servo
amplifier, EMP-A-20 power supply unit,
and a feedback transducer.
Customer-furnished
contacts
EM-J-10
EMP-A-20
–12V
Feedback
transducer
+12V
Feedback
signal
SM4
Command
output
signal
EM-D-30
1 2 3 4 5 6
Closed
Open
11
Installation Dimensions
millimeters (inches)
9,5
(0.375)
21,6
(0.85)
D11
D10
127,0
(5.0)
D5
D9
D4
D8
D3
D7
D2
D6
D1
88,9
(3.5)
 Vickers, Incorporated 1997
All Rights Reserved
31,8
(1.25)
3,0
(0.12)
Minimum
clearance
EMRS-A-11 Power Supply Unit
Circuit and Connections
EMRS-A-11
JA module
receptacle
Dither
TB1
115V AC
60 Hz input
Ø
N
G
26.8V AC 1A
current
transformer
T1
MDL 1/4
fuse
TB2
Common
AC
–
D1
(1 amp)
+
AC
C1
C2
C1 and C2
3600µF. 40V
U1
C3
C4
U2
Operating Data
Design
Usage
The power supply unit provides the
means for mounting one module,
supplying it with the proper excitation
voltages, and connecting it to external
circuit components through a terminal
The EMRS-A-11 power supply unit is
designed for use with Vickers electronic
control modules in single axis
electrohydraulic control systems.
C5
C6
+19V
–19V
Common
–12V
+12V
TB3
strip. In addition, a highly regulated
±12V DC power supply circuit is
included for excitation of command and
feedback circuit components. A
separate terminal strip is provided for
connections to this circuit.
13
Specifications
Input – TB1
Input voltage (no load)
115V AC
Input frequency
60 Hz
Circuit protection
3AG 1/4 amp slow blow
fuse on input power line
Main Supply – TB2
Output voltage (no load)
±19V DC
Output current per leg
0.6A DC
Maximum ripple
0.5V peak to peak
Line regulation (10% line change)
10%
Load regulation (0 to 0.06A
output current change)
18%
Required Supply – TB3
Output voltage
±12V DC, ±0.12V DC
Output current per leg
150 mA
Short circuit current leg
1.3 amps
Balance
0.24V
Line regulation (±10% line change)
0.03V
Load regulation (0 to 0.15A
output current change)
0.05V
Temperature regulation
0.25V change over full range
Temperature coefficient
2mV/°C
Warm-up drift (after 30 minutes)
0.12V
General
Ambient temperature range
0 to 65°C (32 to 149°F)
Mass (weight)
1,14 kg (2.5 lbs)
 Vickers, Incorporated 1997
All Rights Reserved
Installation Dimensions
millimeters (inches)
6,3
(0.25)
177,8
(7.00)
5,56
∅
thru
(0.219)
100,1
(3.94)
165,1
(6.50)
139,7
(5.50)
152,4
(6.00)
6,3
(0.25)
9,5
(0.37)
Minimum
clearance
15
EMP-A-20 Power Supply Unit
Circuit and Connections
TB1-B
EMP-A-20
TB1-A
EC-B
TB3
MDL 1
fuse
115V AC 50 or
60 Hz input
EC-A
26.8V AC 1A
current
transformer
+20V
–20V
Common
+12V
–12V
Filter and
rectifier
Jumpers
For use with 230V AC
source, remove
jumper from TB3
terminals 32 and 35.
Disconnect jumper
from terminal 34 and
connect to terminal 35.
Voltage
regulator
TB2
+20V
–20V
EC-C
EC-D
Typical 4 places
TB1-C
TB1-D
Customer connections to be made with AWG No. 14 to
No. 22 wire. Bare wire ends or spade lugs may be used.
Terminal screw size: No. 6–32 x 6,3mm (0.25 in) long.
Operating Data
Design
Usage
The power supply unit provides the
means for mounting up to four modules
(two EM-D-30 amplifiers, one EM-K-10
ramp module and one EM-J-10
programmer module). The unit supplies
each with the proper excitation voltages,
The EMP-A-20 power supply unit is
designed for use with Vickers electronic
control modules in single and multiple
axis electrohydraulic control systems.
Specifications
Input
Input voltages (no load)
115/230V AC ±10%
Input frequencies
50 or 60 Hz
Circuit protection
1A time-delay fuse on input power line
Main Output to Amplifier
Output voltage (no load)
±20V DC
Output current total
2.5A DC
Maximum ripple
0.6V RMS
Line regulation (10% line change)
12%
Load regulation (0 to 2.5A
output current change)
12%
 Vickers, Incorporated 1997
All Rights Reserved
and connects it to external circuit
components through a terminal strip. In
addition, a highly regulated ±12V DC
power supply circuit is included for
excitation of command and feedback
circuit components.
Specifications
(continued)
Regulated Output to Command/Feedback Circuits
(includes current limiting and thermal shutdown protection)
Output voltage
±12V DC,±0.6V DC
Output current per leg
200 mA
Line regulation ( ±10% line change)
0.05V
Load regulation (0 to 40mA
output current change)
0.03V
Temperature coefficient
2mV/°C
Warm-up drift (after 30 minutes)
0.03V
General
Ambient temperature range
0 to 65°C (32 to 149°F)
Mass (weight)
4,1 kg (9 lbs)
Installation Dimensions
millimeters (inches)
5,9
∅
thru
(0.234)
8,0
(0.31)
225,6
(8.88)
99,7
(8.25)
209,6
(8.25)
260,3
(10.25)
273,0
(10.75)
6,3
(0.25)
9,6
(0.38)
Minimum
clearance
17
EEA-PAM-591 Amplifiers
Circuit and Connections
EEA-PAM-591-A-10
DC/DC
Green
PWR LED
+15V t50 mA
–15V t50 mA
Gnd
+24V
+
Gnd
Integrator Reset
Yellow
ERR LED
P.I.D. output
monitor point
Tracking error
+
–
Gain
S2-2
Alarm output
Input bias
+ –
Input
command
±10V
–
+
S2-3
TP1
–
+
+
–
Ratio
B
S1-2
±10V
Feedback
input
S1-3
A
Input
amp
B
–
+
S2-5
Auxiliary
input
4–20 mA
B
±10V
S1-1
S2-6
–
+
Amplitude
I
Gain
–
+
P
Gain
S2-4
Freq.
JP1
+
– Current
+ limit
–
Control Input
Bias
– +
TP4
B
B
–
+
D
A
D gain
J2-1
Ratio
B16
–
TP3
J2-2
P
From
motherboard
 Vickers, Incorporated 1997
All Rights Reserved
B
A
TP2
GND
Current Output
EEA-PAM-591-T-10
Inner Valve Loop
Daughterboard
A
C
A – 50 mA
B – 100 mA 1W
C – 200 mA
Pre-Amp/Current Limit
Auxiliary
input
4–20 mA
Valve
feedback
+
Output bias
–
Current
return
– Current
+ limit
–
P.I.D. Compensation
Current
output
Pre-amp
+
D
Current
driver
–
A
B14
Pre-amp output
monitor point
Dither
J2-2 J2-1*
Gain
A
249W
*Jumper removed in
EEA-PAM-591-T-10
S2-1
P gain
To
motherboard
Operating Data
Design
Usage
These amplifier cards can accept both
voltage and current control signals,
independently invert them, and generate
drive currents up to ±200 mA.
The EEA-PAM-591-*-10 universal
servovalve amplifier cards are designed
to drive Vickers SM4, SX4, and SP4
servovalves as well as other industry
standard servovalves, such as Moog,
Atchley, Pegasus, and Rexroth in open
and closed loop servo systems. This
package offers flexible circuitry in a
standard rack mount format requiring a
single +24V DC power supply.
The EEA-PAM-591-A-10 is for use with
2-stage servovalves, while the
EEA-PAM-591-T-10 can control 3-stage
servovalves accepting DC inner loop
feedback.
By selecting the appropriate onboard
switches, the circuitry can be easily
configured for use in position, force, and
velocity applications.
Improved servo system performance
can be achieved by utilizing the
independently adjustable proportional,
derivative, and integral gain networks.
In addition, a jumper-selectable “output
current range” has been included for
multiple output resolution settings.
Features and Benefits
D Single +24V DC power supply.
D Standard DIN 41612 F48 interface.
D Accepts voltage or current control
signals.
D Adjustable command and feedback
signal ratio.
D Switch-selectable control signal
inversion.
D Independently adjustable P.I.D.
networks.
D Independent P.D. compensation for
inner loop feedback (591-T only).
D External integrator reset input.
D Switch-selectable gain ranges for
derivative and integral.
D Adjustable frequency and amplitude
dither signal.
D Adjustable tracking alarm with
opto-coupled output.
D Jumper-selectable output current
ranges (±50, 100, or 200 mA).
D Front panel LEDs, test points, and
adjustments for quick, easy setup and
diagnostics.
Specifications
Power requirements:
Nominal
+24V DC t500 mA (at 200 mA load)
Range
+20 to +32V DC
(amplifier shuts down below +20V DC)
Maximum ripple
±5% peak, reverse polarity protected
Output voltages
(pins B2 and Z2)
±15V DC t50 mA
Ripple t50 mV peak to peak
–15V DC not short circuit protected
Command signal inputs:
Voltage input
(pin B6, B8, or Z6)
Range ±10V DC
Impedance 100k ohms
Current input
(pins Z6 and Z8)
Range 0 to 20 mA
Impedance 249 ohms
Output current drive (jumper selectable):
Jumper JP1 in position A
±50 mA
Jumper JP1 in position B
±100 mA
Jumper JP1 in position C
±200 mA
19
Specifications
(continued)
Front panel test points:
Tracking error monitor (TP1)
±10V DC full scale, short circuit protected
Output current monitor
1 mV/mA, short circuit protected
Edge connector monitor points:
P.I.D. output monitor (pin B18)
±10V DC at 5 mA
Pre-amp output monitor (pin Z26)
±6V DC at 2 mA
Input bias
0 to ±10V DC
Output bias
0 to 12% of full scale output
Current limiters
0 to ±full scale output current
Dither:
Amplitude
0 to 20% of full scale output current
Frequency
50 to 400 Hz
Proportional gain
0.1 to 20 V/V
Integral gain:
Low range
0 to 40 V/V-sec
High range
2 to 300 V/V-sec
Derivative gain:
Low range
0.05 to 0.2 V-sec/V
High range
0.3 to 2 V-sec/V
Pre-amp driver gain
1 to 15 V/V
Drift over operating temperature range
t±0.03% of full scale output at
maximum gain
Operating temperature range
0 to 50°C (32 to 120°F)
Storage temperature range
–25 to 85°C (–15 to 185°F)
EEA-PAM-591-T-10 Additional Data
Valve loop P gain
0.1 to 5.5 V/V
Valve loop D gain
0.05 to 0.2 V-sec/V
Valve loop bias
0 to ±10V
Valve loop feedback
0 to ±10V or 4 to 20 mA
 Vickers, Incorporated 1997
All Rights Reserved
Installation Dimensions
millimeters (inches)
EEA-PAM-591-A-10
40,3
(1.59)
S3
1 2 3 4 5 6
S2
1 2 3 4 5 6
S1
1
1 C1 2 C3 3
PWR ERR
OPEN
C2
OPEN
JP1
P12
TRACKING ERR
GAIN
CURRENT +LIMIT
CURRENT –LIMIT
P GAIN
128,4
(5.06)
I
122,4
(4.82)
GAIN
100,0
(3.94)
D GAIN
RATIO
DITHER
INPUT BIAS
OUTPUT BIAS
TP1 TP2
TEST POINTS
160,0
(6.30)
13,97
(0.55)
2,5
(0.10)
EEA-PAM-591-T-10
40,3
(1.59)
S3
1 2 3 4 5 6
S2
1 2 3 4 5 6
S1
1
1 C1 2 C3 3
PWR ERR
OPEN
C2
OPEN
P12
JP1
TRACKING ERR
GAIN
CURR
+LIM
CURR
–LIM
P GAIN
128,4
(5.06)
I
122,4
(4.82)
VALVE
LOOP
P GAIN
D GAIN
GAIN
D GAIN
BIAS
RATIO
RATIO
100,0
(3.94)
B S4
A
1
DITHER
INPUT BIAS
2
OUTPUT BIAS
3
TP1 TP2
TP3
TP4
TEST POINTS
160,0
(6.30)
13,97
(0.55)
2,5
(0.10)
21
EEA Accessory Products
Cardholder Complying with
DIN 41612
This cardholder (part number 02-104808)
has a female connector type D32 and is
designed for EEA cards with a standard
DIN 41612 F48 interface. It can be
permanently mounted and has screw
terminals to ensure quick and secure
wiring connections. When a card is
inserted in the cardholder, a clip locks it
in place.
Female Connector
Complying with DIN 41612
certain EEA cards. It is used when
electronic cards are housed in a 19-inch
rack and is fitted with connection pins
for soldering.
This female connector (part number
508178) is a type 32 and mates with
Installation Dimensions
millimeters (inches)
144,5
(5.7)
Cardholder
15,0
(0.6)
15,0
(0.6)
130,0
(5.1)
120,0
(4.7)
5,5
∅
thru
(0.2)
45,5
(1.8)
56,0
(2.2)
96
(3.74)
Female Connector
7
(0.28)
85
(3.35)
29
(1.15)
3
(0.12)
7,5
(0.29)
10,5
(0.41)
10
(0.39)
90
(3.54)
3,0
∅
thru
(0.12)
15
(0.59)
5,5
(0.22)
 Vickers, Incorporated 1997
All Rights Reserved
5,5
(0.22)
SMC 20H Two-Axis Hydraulic Position Controller
Operating Data
The SMC 20H is capable of controlling
two simultaneous axes of motion using
any combination of magnetostrictive or
encoder position feedback devices.
Data is entered using a hand-held
terminal with a four-line liquid crystal
display. The terminal cord has a
standard 9-pin connector that plugs into
the controller’s front panel. Motion
programs can be executed directly or
from a memory that holds up to 1050
profiles.
Front panel layout
Power Supply
Module
(115V AC, 230V AC,
and 24V DC models
available)
Processor Module
AXIS
Features and Benefits
D Simple menus (similar to bank ATMs)
allow easy programming in English.
Power Input
Connections
D Self contained power supply
eliminates customer expense and
extra wiring.
D Plug-in boards permit use with a
variety of position sensors and
eliminate the need for extra
conditioning boards.
D The SMC 20H is capable of driving
±10V DC and ±50 mA devices
simultaneously without modification.
D The unit’s dual processor design
permits high speed position tracking at
speeds up to 100 IPS at resolutions of
0.0001”.
115VAC
Axis 1 Analog
Connections
POWER
SUPPLY
DO+
01
DO–
02
AGND
03
SO
04
AGND
05
IN1+
06
IN1–
IPX
AGND
ENX
IN2+
SEL1
IN2–
SEL2
AGND
SEL4
N/C
SEL8
N/C
XRUN
IOUT+
I1
IOUT–
I2
AGND
I3
A
X
I
S
X
[1]
Axis 1 Position Sensor
Connections
Input/Output LED
Indicators
A
X
I
S
Y
[2]
MAGNETO
STRICTIVE
COM
AXIS
Axis 2 Position Sensor
Connections
Input/Output
Connections
Common Systems
Connections
COM
ENBL
CPU
Isolated DC Supply
Connections
ISOL
V+
V+
AXIS
COM
COM
Power ‘ON’ Indicator
LED’s
D Permanent storage for up to 1050
programs eliminates the need for
additional storage.
D The SMC 20H’s PID control algorithm,
with programmable dither, dual gain
breaks, and direction sensitive gains
for cylinders, makes it ideal for electric
and hydraulic motion control
applications, including rotary and
linear positioning.
Position Sensor
Module
(Three models
available)
Incoming Power Fuse
Axis 2 Connections
COMM
ISOL
PWR
+5V
DO+
07
DO–
08
+15V
AGND
09
–15V
SO
010
AGND
011
IN1+
012
IN1–
IPY
AGND
ENY
IN2+
SEL1
IN2–
SEL2
AGND
SEL4
N/C
SEL8
N/C
YRUN
IOUT+
I4
IOUT–
I5
AGND
I6
R
S
2
3
2
RS232
Communications Port
R
S
4
2
2
/
4
8
5
RS422/485
Communications Port
(for control pad)
AXIS
Communications
Module
23
Specifications
Processor Type
Interface motion 80C188 with 64K RAM
and 64K FLASH memory, TMS320C26
with 32K PROM and 2.0K RAM
Input/Output
Analog voltage outputs
±10V DC single ended each axis
±10V DC differential each axis
Analog current output
±50 mA each axis standard
Digital input/output
±10V DC differential each axis
Type
Logic TRUE high or low
Current sourcing capability
5 mA (max.) at 5V DC
24 mA with external supply
Current sinking capability
2 mA
Electrical sensors
Power supply voltages
115/230V AC, 47 to 63 Hz, 2A
(Optional +24V DC, 2A)
Serial Interface
Protocols and connections
Standard ASCII
Ports
RS232C and RS422/485
Speed:
RS232C
300 to 38.4K Baud
Hand-held terminal
9600 Baud
Settings
8 data bits, 2 stop bits, no parity
Environmental Conditions
Temperature (operating and storage)
0 to 50°C (32 to 122°F)
Relative humidity
10 to 90%, non-condensing
Electrical noise immunity
NEMA 1cs 2.23
Surge per ANSI C-37.90A and IEEE472
5W transmitter at 1 ft, 27 to 450 MHz
Electrostatic discharge 15,000 volts to
ground
Vibration
5 to 10 Hz, 0.2”, peak to peak
displacement, 10 to 200 Hz at 1G peak,
MIL STD 810C
Shock
15G peak, 10 milliseconds
Mass (weight)
 Vickers, Incorporated 1997
All Rights Reserved
3,18 kg (7 lbs)
Typical Two-Axis Connector Wiring
Axis 1 (X)
01
Lamp
User V+
To Axis 1
Position
Sensor
Connection
OUT +
OUT –
IPX
ENX
SEL1
SEL2
SEL4
SEL8
RUNX
PLC
Thumbwheel
I4
I5
User V+
Servovalve
–Limit
V+
+ Limit
Cylinder
Load
Position Sensor
Axis 2 (Y)
DO+
DO–
AGND
07
Lamp
User V+
IPX
ENX
SEL1
SEL2
SEL4
SEL8
RUNY
Amplifier
To Axis 2
Position
Sensor
Connection
PLC
Thumbwheel
I4
I5
Proportional
Valve
User V+
–Limit
Cylinder
Position Sensor
V+
+ Limit
ÇÇÇÇÇ
Load
25
Model Code
1
1
Model series
SMC20H – Two-axis hydraulic position
controller
2
3
4
5
6
Analog current
24 – ±24 milliamps
50 – ±50 milliamps
100 – ±100 milliamps
Terminal
P – Hand-held terminal
N – None
3
4
2
I/O (input/output)
L08 – Low TRUE, DC, 8 in and 8 out
per axis
H08 – High TRUE, DC, 8 in and 8 out
per axis
 Vickers, Incorporated 1997
All Rights Reserved
5
Feedback sensors
E2 – Two incremental encoder sensor
channels
M2 – Two magnetostrictive sensor
channels
EM – One incremental encoder sensor
channel and one magnetostrictive
sensor channel
6
Power input
115 – 90V to 125V AC, 50 or 60 Hz
230 – 200V to 240V AC, 50 or 60 Hz
24 – 24V DC, ±5%
Installation Dimensions
millimeters (inches)
87,6
(3.45)
21,8
(0.85)
44,4
(1.75)
7,7
(0.30)
203,2
(8.00)
Mount vertically with
keyhole slot at top only.
Use four No. 10 screws.
323,8
(12.75)
339,2
(13.35)
7,7
(0.30)
21,8
(0.85)
44,4
(1.75)
27
Eaton Hydraulics
15151 Highway 5
Eden Prairie, MN 55344
Telephone: 612 937-7254
Fax: 612 937-7130
www.eatonhydraulics.com
Form No. 00-000
Copyright Eaton Corporation, 0000
All rights reserved.
Printed in U.S.A
 Eaton Hydraulics, Incorporated 2000
All Rights Reserved
46 New Lane, Havant
Hampshire PO9 2NB
England
Telephone: (44) 170-548-6451
Fax: (44) 170-548-7110
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