VT-HACD-3-2X

VT-HACD-3-2X
VT-HACD-3-2X
Digital control electronics
Operating instructions
Replaces: 12.10
RE 30543-B/09.12
English
The data specified only serve to describe the
product. No statements concerning a certain
condition or suitability for a certain application
can be derived from our information. The
information given does not release the user
from the obligation
of own judgment and verification. It must be
remembered that our products are subject to a
natural process of wear and aging.
© This document, as well as the data,
specifications and other information set forth in
it, are the exclusive property of Bosch Rexroth.
It may not be reproduced or given to third
parties without its consent.
An example configuration is shown on the title
page. The delivered product may, therefore,
differ from the product which is pictured.
The original operating instructions were
created in the German language.
Inhalt
3/44
Inhalt
1
About this documentation
5
1.1
Validity of the documentation
5
1.2
Required and supplementary documentation
5
1.3
Representation of information
6
1.3.1 Safety notes
6
1.3.2Symbols
6
1.3.3 Terms used
7
1.3.4Abbreviations
7
2
Safety instructions
8
2.1
About this chapter
8
2.2
Intended use
8
2.3
Improper use
8
2.4
Personnel qualifications
8
2.5
General safety instructions
2.6
Product-specific safety instructions
10
3
General notes on damage to material and the product
12
4
Scope of delivery
13
5
About this product
14
5.1
Performance description
14
5.2
Product description
14
9
5.2.1 System overview, interfaces
15
5.2.2 Inputs and outputs
16
5.2.3Controllers
17
5.2.4 Adjustment to hydraulic system
18
5.2.5 Signal linking/arithmetic operations
18
5.2.6 Digital position measuring system
19
5.2.7 Detection and treatment of errors
19
5.2.8 Pinout VT-HACD-3-2X
20
5.3
21
Indicator lamps
5.3.1 Unit dimensions VT-HACD-3
24
5.4
25
Identification of the product
5.4.1 Ordering code
25
6
Transport and storage 26
6.1
Storing the VT-HACD-3-2X26
7Installation
27
7.1Unpacking
27
7.2
Installation conditions
27
7.3
Required tools
27
7.4
Installing the VT-HACD-3-2X
27
7.5
Connecting the power supply
29
7.5.1 Notes on wiring
30
7.5.2 Notes on the connection of tension spring clamps
30
8Commissioning
31
8.1
31
Configuration software “BODAC“
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8.1.1 PC installation requirements
31
8.1.2 Installation of “BODAC“
31
8.1.3 Configuration of the VT-HACD-3-2X with BODAC
32
8.2
Initial commissioning of the VT-HACD-3-2X
32
8.3
Recommissioning after repairs and reconditioning
33
9Operation
34
9.1
34
Diagnostic software “WinView“
9.1.1 Installation of “WinView“
34
10Maintenance
35
10.1 Cleaning and care
35
10.2Repairs
35
11
36
Removal and replacement
11.1 Preparing the removal
36
11.2 Carrying out the removal
36
11.3 Preparing the components for storage/further use
36
12Disposal
37
12.1 Environmental protection
37
13
37
Extension and conversion
13.1 Optional accessories
37
14Troubleshooting
38
14.1 How to proceed with troubleshooting
38
15
38
Technical data
16Annex
39
16.1 Address directory
39
16.1.1Contacts for repairs
39
16.1.2Contacts for support
39
17
40
Alphabetical index
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
About this documentation5/44
1 About this documentation
1.1 Validity of the documentation
This documentation is valid for the following products:
•• VT-HACD-3-2X/0-I-00/000, material number R901239533
•• VT-HACD-3-2X/E-I-00/000, material number R901239535
•• VT-HACD-3-2X/N-I-00/000, material number R901276379
•• VT-HACD-3-2X/P-I-00/000, material number R901227616
This documentation is intended for fitters, operators, plant operators and machine
and plant builders.
This documentation contains important information on the safe and appropriate
installation, transport, commissioning, maintenance, operation, removal and simple
troubleshooting of the product.
▶▶ Read this documentation thoroughly, especially Chapter 2 “Safety instructions“
and Chapter 3 “General notes on damage to material and the product“, before
working with the digital control electronics.
1.2 Required and supplementary documentation
▶▶ Only commission the product when you have the documents identified with the
book symbol
at hand and have understood and observed them. You can find
operating instructions and data sheets on our website
www.boschrexroth.com/mediadirectory.
Table 1: Required and supplementary documentation
Title
Document no.
Document type
Digital closed-loop control electronics, type
VT-HACD-3, component series 2X
RE 30543
Data sheet
Declaration on the environmental compatibility for
EMC, climate and mechanical load, VT-HACD-3-2X
RE 30543-U
Declaration on
environmental
compliance
Digital controller for electromechanical and
electrohydraulic drives - software description/BODAC
online help
RE 30543-01-B
Software
description and
online help
Digital controller for electromechanical and
electrohydraulic drives, start-up PROFINET RT
interface, VT-HACD-3-2X
RE 30543-05-Z
Instructions
Digital controller for electromechanical and
electrohydraulic drives, start-up Ethernet/IP interface,
VT-HACD-3-2X
RE 30543-04-Z
Instructions
Digital controller for electromechanical and
electrohydraulic drives, start-up PROFIBUS interface,
VT-HACD-3-2X
RE 30543-01-Z
Instructions
Installation, commissioning and maintenance of
proportional valves
RE 07800
Data sheet
Installation, commissioning and maintenance of
hydraulic systems
RE 07900
Data sheet
System documentation of the system manufacturer
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
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About this documentation
1.3 Representation of information
In order to allow you to work directly and safely with your product, standardized
safety notes, symbols, terms and abbreviations are used. For a better understanding,
these are explained in the following sections.
1.3.1 Safety notes
This documentation contains safety notes in Chapter 2.6 “Product-specific safety
instructions“ and Chapter 3 “General notes on damage to material and the product“
as well as before a sequence of activities or instructions for action, which involve the
risk of personal injury or damage to equipment. The measures described for averting
the hazard must be observed.
Safety notes are structured as follows:
Signal worD
Type and source of hazard!
Consequences in the case of non-observance
▶▶ Measures to avert the hazard
▶▶ <List>
•• Warning symbol: draws attention to a hazard
•• Signal word: identifies the degree of hazard
•• Type and source of hazard: identifies the type or source of the hazard
•• Consequences: describes the consequences in the case of non-observance
•• Precautions: states, how the hazard can be avoided
Table 2: Hazard classes according to ANSI Z535.6-2006
Warning sign, signal word
Meaning
DANGER
Indicates a hazardous situation which, if not avoided, will
certainly result in death or serious injury.
WARNING
Indicates a hazardous situation which, if not avoided, could
result in death or serious injury.
CAUTION
NOTICE
Indicates a hazardous situation which, if not avoided, could
result in minor or moderate injury.
Damage to property: The product or the environment can be
damaged.
1.3.2 Symbols
The following symbols refer to notes, which are not relevant to safety, but increase
the legibility of the documentation.
Table 3: Meaning of symbols
Symbol
Meaning
If this information is disregarded, the product cannot be used or operated
in an optimum manner.
▶▶
Individual, independent step of action
1.
Numbered instructions for action:
The numbers indicate that the activities are to be carried out consecutively.
2.
3.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
About this documentation7/44
1.3.3 Terms used
The following terms are used in this documentation:
Table 4: Terms
Term
Meaning
BODAC
Bosch Rexroth Operator Interface for Digital Axis Controllers
HACD
Hydraulic Axis Control Digital
UB
Operating voltage
1.3.4 Abbreviations
The following abbreviations are used in this documentation:
Table 5: Abbreviations
Abbreviation
Meaning
AGND
Analog Ground
AIx
Analog Input
AOx
Analog Output
CAN
Controller Area Network
CLK
Clock (SSI encoder)
D/A
Digital/analog
DIx
Digital Input
DOx
Digital Output
EMC
Electromagnetic compatibility
GND
Ground
I/O
Input/outputs
L
Link
NS
Network status
PELV
Protective Extra Low Voltage
PWR
Power supply
Res
Resolution
S
Status
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Safety instructions
2 Safety instructions
2.1 About this chapter
The product has been manufactured according to the generally accepted rules of
current technology. There is, however, still a risk of personal injury or damage to
equipment if you do not observe this Chapter and the safety instructions contained
in this documentation.
▶▶ Read these instructions completely and thoroughly before working with the
product.
▶▶ Keep this documentation in a location where it is accessible to all users at all
times.
▶▶ Always pass the product together with the required documentation to third
parties.
2.2 Intended use
The product is an electrical component.
You may use the product as follows:
•• as component for installation in a control cabinet for use in conjunction with
machine tools, plastics processing and special-purpose machinery as well as
presses and transfer systems
•• as command value electronics for the generation, linking and normalization of
signals or
•• as control electronics for control loops with PIDT1 controller and optional state
feedback
•• only together with a higher-level control electronics with suitable I/O components,
which, in conjunction with the VT-HACD-3-2X, holistically controls the motion
sequence of the machine and also monitors it in terms of safety
•• under the operating conditions and within the performance limits specified in data
sheet RE 30543
The product is intended exclusively for professional use and not for private usage.
Operation according to the intended use also implies that you have read and
understood this documentation completely, especially Chapter 2 “Safety
instructions“.
2.3 Improper use
Any use other than described in the section “Intended use” is considered as improper
and is therefore not permitted.
For damage resulting from improper use, Bosch Rexroth AG will not bear liability.
The risks arising from improper use lie exclusively with the user.
2.4 Personnel qualifications
The activities described in this documentation require basic knowledge of electrics
and hydraulics as well as knowledge of the associated technical terms. To ensure
safe usage, these activities may therefore only be carried out by qualified personnel
or under the direction and supervision of qualified personnel.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Safety instructions9/44
Qualified personnel are those who, due to their professional training, knowledge and
experience as well as their knowledge of relevant regulations, can assess work assigned
to them, recognize potential hazards and institute appropriate safety measures. Qualified
personnel must observe relevant specialist rules and have the required expertise.
With regard to hydraulic products, specialist knowledge means, for example:
•• Ability to read and completely understand hydraulic circuit diagrams,
•• complete understanding in particular of interrelationships with regard to safety
equipment and
•• knowledge of the function and structure of hydraulic components.
Bosch Rexroth offers qualifying training courses in specific fields. You can find an
overview of training contents on the Internet at:
http://www.boschrexroth.de/didactic
2.5 General safety instructions
•• Observe valid regulations for accident prevention and environmental protection.
•• Observe the safety regulations and rules of the country where the product is used/
operated.
•• Use Rexroth products only in technically perfect condition.
•• Observe all notes given on the product.
•• Persons who install, commission, operate, demount or maintain Rexroth products
must not consume any alcohol, drugs or pharmaceuticals that may affect their
ability to respond.
•• Only use accessory and spare parts approved by the manufacturer in order to rule
out personnel hazards arising from unsuitable spare parts.
•• Adhere to the technical data and ambient conditions provided in the product
documentation.
•• If unsuitable products are installed or used in safety-relevant applications,
unintended operational states can occur in these applications, which can cause
personal injury and damage to property. Therefore, use the product only in
safety-relevant applications such as in explosion protection areas or in safetyrelated parts of a control (functional safety), if this use is expressly specified and
permitted in the documentation.
•• You may commission the product only when it has been established that the final
product (for example, a machine or system), in which the Rexroth products are
installed, complies with national regulations, safety regulations and standards
relevant for the application.
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Safety instructions
2.6 Product-specific safety instructions
WARNING
Hazardous movement!
Risk of injury due to incorrect activation by the control electronics and resulting
unforeseeable machine movements.
▶▶ If persons have to enter the hazard zone while the control is active, provide
superordinate monitoring functions or measures for personal safety on the
system side. The plant manufacturer/user must rate and dimension these
measures on the basis of a risk and failure analysis according to the specific
situation on site. The safety regulations valid for the system must be taken into
account for this.
The control electronics emits interference to other electronics within the permitted
limit values. This can cause malfunction in the control process.
▶▶ Only use electronics below the EMC limit values or provide appropriate
shielding.
The control electronics VT-HACD-3-2X responds to electromagnetic interference
from non-shielded, improperly installed or wrongly connected cables. If the
limit values given in the data sheet are exceeded, malfunction or uncontrolled
movements are possible.
▶▶ Adhere to the limit values specified in the data sheet, use only electronics below
the EMC limit values or provide proper shielding.
Electrostatic processes, an inadequate grounding concept or missing equipotential
bonding can lead to damage to the electronics and hence cause malfunction or
uncontrolled movements of the machine.
▶▶ Ensure proper grounding and provide equipotential bonding.
Using the product outside the given IP protection class can result in short-circuit
and malfunction and can therefore cause uncontrolled machine movements.
▶▶ Only use the product within the IP protection class and under ambient
conditions as specified in the data sheet.
▶▶ Provide safety functions for personal safety separately. The control electronics
VT-HACD-3-2X itself does not include safety functions for personal safety and is
therefore no safety-relevant component.
▶▶ Avoid contact with salt-containing environments and adhere to the ambient
conditions specified in the data sheet.
▶▶ Before carrying out any work on the control electronics VT-HACD-3-2X,
depressurize the relevant system section and disconnect it from the power
supply.
▶▶ Switch the system off and secure it against restarting in the event of an
emergency, malfunction or other irregularities.
High pressure!
Risk of injury!
▶▶ Depressurize the relevant system section before carrying out any work on the
control electronics.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Safety instructions11/44
WARNING
High voltage!
Risk of injury.
▶▶ Wire or plug in the control electronics VT-HACD-3-2X only when it is
disconnected from the power supply.
High electric voltage due to incorrect connection!
Danger to life, risk of injury through electric shock.
▶▶ Only connect devices, electrical components and lines which feature protective
extra low voltage (PELV) to connections or terminals having voltages from 0 to
50 Volt.
▶▶ Only connect voltages and power circuits that feature safe isolation from
dangerous voltages. Safe electrical isolation can be achieved for example with
isolating transformers, safe optocouplers or mains-free battery operation.
Lightning!
Risk of uncontrolled machine movements. An inadequate grounding concept or
missing equipotential bonding can lead to damage to the electronics.
▶▶ Ensure equipotential bonding for the device.
Failures and defects in the control current circuits or the energy supply!
Risk of uncontrolled machine movements.
▶▶ Ensure safety in accordance with EN ISO 13849 or IEC 62061.
CAUTION
Hot surfaces!
Risk of burning. System parts can heat up during operation.
▶▶ Let system parts cool down before touching them or wear protective gloves.
Fault currents and short-circuits!
Reduced safety and malfunction.
▶▶ The environment must be free from conductive contamination (acids, lyes, anticorrosion agents, salts, metal vapors, etc.) and the device must not be exposed
to them. Generally, rule out deposits according to the IP protection class.
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General notes on damage to material and the product
3 General notes on damage to material and
the product
NOTICE
High voltage!
Possible damage to the control electronics.
▶▶ Wire the control electronics only when it is disconnected from the power supply.
Overheating!
Risk of damage to the control electronics.
▶▶ Adhere to the ambient conditions according to the data sheet.
▶▶ Do not use free-wheeling diodes in the solenoid cables.
▶▶ Ensure sufficient ventilation of air.
Overloading!
Risk of overloading and damage to supply cables in the case of insufficient
dimensioning and/or operation with several electrical devices.
▶▶ Provide current limitation by overload protection.
▶▶ Select an appropriate rating of power supply unit and cables.
Wrong cables! Voltage loss, scorching of cable!
Risk of damage to the product.
▶▶ For solenoid cables up to 50 m long, use cable type LiYCY 1.5 mm2, for position
transducer cables, cable type LiYCY 0.5 mm2 shielded. For greater lengths,
please consult us.
Cables lying around!
Risk of stumbling!
▶▶ Install cables and lines so that they cannot be damaged and nobody can stumble
over them.
The warranty is valid exclusively for the configuration delivered.
Warranty claims will be rejected in the case of improper installation, commissioning
and operation as well as in the case of use not in accordance with the intended
purpose and/or improper handling.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Scope of delivery13/44
4 Scope of delivery
The scope of delivery includes
•• The digital control electronics VT-HACD-3-2X.
•• Mating connectors for
––Connection X1S (Phoenix Mini Combicon 3-pin)
––Connection X2A1 (Weidmüller, type designation B2L 3.5/18 LH SN SW)
––Connection X2M1 (Weidmüller, type designation B2L 3.5/30 LH SN SW)
Accessories such as interface cables and USB converters are not included in the
scope of delivery, but can be ordered separately. See Chapter 13.1 “Optional
accessories“ on page 37.
The configuration software “BODAC“ can be ordered from Rexroth as CD stating the
ordering designation SYS-HACD-BODAC-01 (material number R900777335) or be
downloaded free of charge on the Internet. Here, you can also find the “WinView”
software required for diagnostics purposes.
Download: www.boschrexroth.com/hacd
Enquiries: [email protected]
Inspect the scope of delivery for completeness and damage in transit. In the case
of defects, please get in touch with your contact in the sales organization.
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
14/44
About this product
5 About this product
5.1 Performance description
The digital VT-HACD-3-2X serves as control electronics for up to three control loops
(position, pressure, force and velocity control) with PIDT1 controller and optional
state feedback in conjunction with electrohydraulic axes. It is also possible to realize
an overriding control (position, pressure or force, e.g. closed-loop position control
with overriding pressure/force control).
In addition, the control electronics can be used for generating, linking and
normalizing signals.
The control electronics VT-HACD-3-2X offers numerous options for linking signals or
implementing changeovers. Moreover, it features a parameterizable ramp function.
Configuration, parameterization and diagnostics of the VT-HACD-3-2X can be
carried out using the software BODAC. For the graphical representation of recorded
variables, this software works in conjunction with the visualization software
WinView.
The fields of application comprise electrohydraulic axes in machine tools, plastics
processing machines, special-purpose machines, presses and transfer systems. The
functions realized in these machines include sequence parameterization, positioning,
pressure control, force controls and tables.
5.2 Product description
The control electronics VT-HACD-3-2X is designed for mounting on 35-mm mounting
rails and complies with EMC Directive 2004/108/EC.
The micro-controller of the VT-HACD-3-2 X controls the entire process, makes
adjustments and arithmetic operations and implements closed control loops. Data
for configuration, command values and parameters are stored in a non-volatile flash
memory
The entire configuration as well as parameterization and diagnostics are carried
out using the PC program BODAC. This program can also be used for conveniently
administrating machine and measurement data. Apart from the switches for address
setting, the control electronics VT-HACD-3-2X does not include any additional
hardware switches. The VT-HACD-3-2X must therefore be connected via a serial
interface (RS232, 1:1 cable) with a PC. For parameterization and diagnostics, up
to 32 electronics can be interconnected over a local bus. The configuration and
consequently the creation of applications can be accomplished very easily by linking
pre-defined function blocks. To this end, 32 blocks with command values, velocities
and controllers are available.
Adjustments to the hydraulic drive at hand can be made in the form of area ratio
adjustment, characteristic curve correction, overlap compensation, residual speed
logic and zero point correction.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
About this product15/44
5.2.1 System overview, interfaces
The Figure below shows as an example a VT-HACD-3-2X/E or .../N with a hydraulic
cylinder axis.
HIgher-level control
Possible interfaces with the VT-HACD-3-2X:
•• Analog signals
•• Digital inputs/outputs
•• Serial interface
RS232
•• Bus systems
MS
NS
address
X3C
o
n
S
L
GND
GND
18-30V
PWR
X7E2
option
L
0
1
2
3
4
5
6
0
1
2
X1S
PWR RUN BUS
S
PROFIBUS DP
X7E1
X2M1
1clk+
1clk1D/A+
1D/AZ+
24V
GND
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
X2A1
ref
AI1+
AI2+
AI3+
AI4+
AI5+
AI6+
AO1
AO3
encoder
2clk+
2clk2D/B+
2D/B
Z24V
GND
DO1
DO2
DO3
DO4
DO5
DO6
DO7
ok
DIO
AIO
enable
AI1AI2AI3AI4AI5AI6AO2
AGND
5
X7P/D
HACD
3
7
6
2
1
Fig. 1: System overview of interfaces
1 Single-rod cylinder
2 Integrated position measuring system
3 Proportional valve with integrated control electronics
4 VT-HACD
5 Connection cable
6 Pressure transducer
7 Sandwich plate shut-off valve (with plug-in switching amplifier)
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About this product
The following interfaces are possible between a higher-level control and the
VT-HACD-3-2X:
•• Analog signals
•• Digital inputs/outputs
•• Serial interface
•• Bus systems (PROFIBUS DP/V0; Ethernet/IP or PROFINET RT)
5.2.2 Inputs and outputs
The control electronics VT-HACD-3-2X comprises an input for two digital measuring
systems SSI (binary or Gray code) or one incremental position measuring system.
You can use only SSI encoders of the same type (resolution). In addition, the control
electronics features a +10 V reference voltage output as well as a serial interface
RS232.
Analog I/O
The 6 analog inputs can be software-switched between ±10 V, 0…10 V, 0…20 mA and
4…20 mA.
For the voltage inputs, the input resistance is 300 kOhm ±5 %. For all analog inputs,
the operating range as well as error detection can be defined.
The VT-HACD-3-2X comprises a total of 3 analog outputs. Analog output AO1
is software-switchable between ±10 V, 0…10 V, 0…20 mA and 4…20 mA. The
changeover is accomplished so that in each case the entire range of the analog/
digital converter is utilized. AO2 and A03 are firmly set to ±10 V.
The analog outputs can be adjusted in terms of gain and offset.
Digital I/O
The VT-HACD-3-2X has 9 digital inputs and 8 digital outputs.
One input has the fixed functionality “Enable” (X2A1, enable), one digital output
(X2M1, ok) the fixed functionality “OK“.
The other digital inputs are used for triggering blocks.
The function of each digital output can be determined by selection from a predefined list:
•• Command value = actual value
•• Actual value higher or lower than a settable threshold
•• Wait time completed
•• Ramp completed
•• Error flag
•• Controller active
•• Error flag set
•• Table completed
•• Absolute value higher or lower than window
•• Error status
•• Block timeout
Process connectivity
For integration into the process, digital/analog inputs and outputs are available as
well as optionally PROFIBUS DP, PROFINET RT or Ethernet/IP for communication
with a higher-level control. For the individual bus systems, separate instructions are
available, see Table 1 “Required and supplementary documentation” on page 5.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
About this product17/44
5.2.3 Controllers
The numbers in brackets refer to the items in the block circuit diagram of Fig. 5 on
page 22.
If the VT-HACD-3-2X is used as controller module, the entry “Controller” must be
selected in linking [8].
The signals LCx represent the command value branch, the signals LFBx the actual
value branch [8].
Both, an SSI or incremental encoder [2] (digital measuring system) or one or several
analog sensors can be used as actual value signal.
The controller structure is designed as PIDT1 controller, with each component being
able to be activated individually. It is, for example, also possible to realize a P or a
PT1 controller, The I-component can additionally be controlled via a window (upper
and lower limit).
Control parameters can be set in blocks or independently of blocks. In this case,
referencing is done to the controller data of block 1.
In the structure editor, a state feedback can be used to dampen the controller
output.
Controller functions
Position controller:
•• PDT1 controller
•• Linear gain characteristic curve
•• Direction-dependent gain adjustment
•• Gain modification possible using the program
•• Valve characteristic curve adjustment
•• Fine positioning via I-component
•• Residual voltage principle
•• Compensation of zero point errors
•• State feedback via
––Pressure
––Differential pressure
––Position
•• Command value feedforward
Pressure/force controller:
•• PIDT1 controller
•• I-component can be cut in via window
•• Differential pressure evaluation
•• Command value feedforward
Velocity controller:
•• PI controller
•• I-component can be cut in via window
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About this product
Command value feedforward
DT1
Command
value
P
–
–
Actual value
I
+
T1
+
+
Control
variable
–
DT1 (actual value)
State feedback
Signal
D
Fig. 2: Controller structure
5.2.4 Adjustment to hydraulic system
For an optimum adjustment to the special requirements of hydraulic drives, the
following functions are connected upstream of the analog output:
•• Direction-dependent gain [10]
The gain can be set separately for positive and negative values. In this way,
adjustments to the area ratio of a single-rod cylinder are possible.
•• Characteristic curve correction [11]
Can be used for compensating for progressive flow characteristics of proportional
directional valves or for realizing an inflected characteristic curve.
•• Overlap jump/residual speed [12]
If valves with positive overlap are used in conjunction with a PDT1 controller, fine
positioning can be activated to increase the steady-state accuracy. This can be
selected according to the residual voltage principle or as overlap jump.
•• Zero point correction (offset) [13]
Is used for correcting the zero point of the connected valve.
5.2.5 Signal linking/arithmetic operations
The VT-HACD-3-2X features a multitude of options of linking signals on the input or
output side. It is possible to realize arithmetic operations for 2 signals.
These are functions like addition, subtraction, multiplication, division as well as
minimum/maximum value comparator, area ratio and limiter:
•• + = Addition: Z = X + Y
•• – = Subtraction: Z = X – Y
•• * = Multiplication: Z = X * Y / 100
•• / = Division: Z = X / Y * 100
•• MIN = minimum value comparator: Z = MIN (X, Y)
•• MAX = maximum value comparator: Z = MAX (X, Y)
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
About this product19/44
•• RATIO = entry of a ratio:
•• For RATIO >1: Z = X * RATIO – Y
•• For RATIO <1: Z = X – Y / RATIO (e.g. area ratio for differential pressure
measurement)
•• LIMIT = signal limiter: Z = MIN (|X|, |Y|) * X / |X|
•• JUMP = jump generator: Z = MAX (|X|, |Y|) * X / |X|
•• With Z … result
•• X … 1st signal
•• Y … 2nd signal
5.2.6 Digital position measuring system
When the VT-HACD-3-2X is used as controller module, digital position measuring
systems of type SSI or incremental can be employed for the acquisition of actual
values.
Operating limits of
incremental encoder
The maximum frequency of the incremental encoder input (fG) of the VT-HACD-3-2X
is 250 kHz. Factors determining the frequency are the maximum travel speed of the
drive, the resolution (Res) of the encoder system used and the evaluation of signals,
if used, by an EXE (interpolation and digitization electronics).
Formula
Encoder resolution at given maximum velocity:
Res [μm] ≥
3
v m
s x 10
fG [kHz] x EXE
Velocity at given encoder resolution:
Res [μm] x EXE x fG [kHz]
v m
s ≤
103
5.2.7 Detection and treatment of errors
The VT-HACD-3-2X supports numerous possibilities of error monitoring:
•• Dynamic following error monitoring
•• Cable break monitoring for incremental and SSI encoders
•• Cable break monitoring for sensors
•• Cable break monitoring for analog signals
•• Monitoring of analog inputs for falling below or exceeding a certain range
•• Control error monitoring when the VT-HACD-3-2X is configured as controller
•• Monitoring of the supply voltage, all internal voltages and the +10 V reference
voltage
•• Monitoring of the microntroller itself (watchdog) as well as of the memory
(checksum)
Error monitoring functions as well as the response in the event of an error can
be configured as well. Error monitoring must be activated by the customer in the
parameter file.
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
20/44
About this product
5.2.8 Pinout VT-HACD-3-2X
X3C RS 232
TxD
RxD
reserved
GND
reserved
reserved
reserved
LCAN_L
MS
NS
X3C
o
n
X1S Power
2
3
X7E2
GND
GND
18 – 30 V
S
L
GND
GND
18-30V
PWR RUN BUS
X7E1
S
X7P PROFIBUS DP
Pin
1
2
3
4
5
6
7
8
9
reserved
reserved
RxD/TxD-P
CNTR-P
DGND
VP
reserved
RxD/TxD-N
reserved
X1S
PROFIBUS DP
Pin
1
option
L
0
1
2
3
4
5
6
0
1
2
PWR
2
3
4
5
6
7
8
9
RS232
LCAN_H
X2M1
1clk+
1clk1D/A+
1D/AZ+
24V
GND
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
X2A1
ref
AI1+
AI2+
AI3+
AI4+
AI5+
AI6+
AO1
AO3
encoder
2clk+
2clk2D/B+
2D/B
Z24V
GND
DO1
DO2
DO3
DO4
DO5
DO6
DO7
ok
DIO
AIO
enable
AI1AI2AI3AI4AI5AI6AO2
AGND
X7P/D
HACD
The address DIL switches are used for
setting the IP adress for connection to
bus systems.
The option DIL switches are provided
only on Ethernet-capable variants.
Note:
X7E1, X7E2
Ethernet ports
Fig. 3: Pinout
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
1clk+
DIO
(digital)
2clk+
1clk1D/A+
1D/AZ+
24V
GND
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
2clk2D/B+
2D/BZ24V
GND
DO1
DO2
DO3
DO4
DO5
DO6
DO7
ok
X2M1
address
Pin
1
The pins marked with “reserved“ must
not be connected!
ref
AIO
(analog)
enable
AI1+
AI2+
AI3+
AI4+
AI5+
AI6+
AO1
AO3
AI1AI2AI3AI4AI5AI6AO2
AGND
X2A1
About this product21/44
5.3 Indicator lamps
The following LED indicator lamps are provided on the front panel of the
VT-HACD-3-2X:
Fig. 4: LEDs
PWR
Voltage supply applied
RUN
VT-HACD-3-2X is initialized and in the “RUN“ mode.
The LED flashes, if the VT-HACD-3-2X has not been initialized.
BUS
NS
Bus signal is present
Network status
LED off = no IP address
LED green (flashing) = configuration
LED green = connection established
LED red (flashing) = connection interrupted
LED red = double IP addresses
MS
HACD status
LED green (flashing) = configuration
LED green = HACD OK
LED red (flashing) = HACD error
L
Link: On = active; Off = no connection with a communication partner
S
Transmission status of data (flashing = receiving/sending Ethernet telegrams)
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
22/44
About this product
AI1+
AI1–
1a
AI2+
AI2–
U/I
AI3+
AI3–
U/I
AI4+
AI4–
AI5+
AI5–
U/I
AI6+
AI6–
1CLK+
1CLK–
1D/A+
1D/A–
2CLK+
2CLK–
2D/A+
2D/A–
1D/A+
1D/A–
2D/B+
2D/B–
Z+
Z–
4
1
U/I
U/I
U/I
7
5
IN1
U
6
+, –, *, /
C1-1 MIN, MAX
Limit, Jump C1
C1-2
T1 Lag
IN2
U
IN3
U
FB1-1 +, –, *, /
MIN, MAX FB1
FB1-2 Limit, Jump
Ratio
T1 Lag
IN4
U
IN5
U
Command value internal + variable
Velocity +/–
LC1
S-ramp +/–
LFB1
LFB1 = variable
Controller parameter
IN6
U
6
+, –, *, /
C2-1 MIN, MAX
Limit, Jump C2
C2-2
T1 Lag
2
SSI
SSI1
FB2-1 +, –, *, /
MIN, MAX FB2
FB2-2 Limit, Jump
Ratio
T1 Lag
Command value internal + variable
Velocity +/–
LC2
S-ramp +/–
LFB2 = variable
LFB2
Controller parameter
2
SSI
SSI2
6
+, –, *, /
C3-1 MIN, MAX
Limit, Jump C3
C3-2
T1 Lag
2
FB3-1 +, –, *, /
MIN, MAX FB3
FB3-2 Limit, Jump
Ratio
T1 Lag
3
INC
INC
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
Command value internal + variable
Velocity +/–
LC3
S-ramp +/–
LFB3
LFB3 = variable
Controller parameter
Digital inputs
Thresholds
Digital outputs
internal flags
Dwell time
Trigger condition 1
3
PWR
18 -30 V
RUN
DC
GND
GND
Error
Block time
AND
OR
Trigger condition 2
RS 232
PROFIBUS
Ethernet
DC
Fig. 5: Block circuit diagram VT-HACD-3-2X, structure editor
1 Analog inputs, voltage or current
2 SSI or incremental
3 Ena
6 Mathematical operation or inputs
7 32 blocks for command value generation, controller parameter changeover
8 Mat
11Characteristic curve correction
12Residual speed and overlap jump
13Offs
16OK output and digital outputs
17Mathematical operations for outputs
(1a: High-resistance input AI1)
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
About this product23/44
8
+
–
*
/
MIN
MAX
Limit
Jump
C1
LFB1
C2
LFB2
C3
LFB3
LO1
17
+
–
*
/
Y1 MIN
MAX
Limit
Jump
10
11
12
13
14
X1
15
OUT1
U
U/I
AO1
AGND
9
17
8
+
–
*
/
MIN
MAX
Limit
Jump
+
–
*
/
Y2 MIN
MAX
Limit
Jump
X2
LO2
10
11
12
13
15
14
OUT2
U
U
AO2
AGND
17
8
+
–
*
/
MIN
MAX
Limit
Jump
LO2
+
–
X2
*
/
Y2 MIN
MAX
Limit
Jump
10
11
12
13
14
15
OUT3
U
U
AO3
AGND
16
Control
digital
outputs
DO1
DO2
DO3
DO4
DO5
DO6
DO7
Error
detection
OK
ref (+10 V)
able input and digital inputs
4 Adjustment of analog inputs
5 Switching matrix
thematical operation or controller
9 Overriding control
10Direction-dependent gain
set
14Limitation
15Analog outputs or current
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
24/44
About this product
For further information, see online help in BODAC or RE 30543-01-B
5.3.1 Unit dimensions VT-HACD-3
(dimensions in mm)
Mounting on top hat rails TH 35-7.5 or TH 35-15 to EN 60715
Fig. 6: Unit dimensions VT-HACD-3-2X/... (without Ethernet)
Mounting on rails TH 35-7.5 or TH 35-15 to EN 60715
Fig. 7: Unit dimensions VT-HACD-3-2X/... (with Ethernet)
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
About this product25/44
5.4 Identification of the product
A label indicating the most important details is provided at the side of the
VT-HACD-3-2X.
1
3
2
3FYSPUI
.BEFJO(FSNBOZ
75)"$%9*
./33 8
4
1
2
3
4
5
4/(.
7
6
5 Material number
6 Date of production
7 Serial number
Word mark
Country of origin
Material short text
Factory
5.4.1 Ordering code
VT-HACD
3
2X
0
I
00
Digital control electronics
Options
Standard
000
=3
Component series 20 to 29
Hardware identification
Position transducer
= 2X
I =
(20 to 29: unchanged technical data and pinout)
Incremental/SSI encoder
Bus system
0=
P=
Without bus
PROFIBUS DP
Ethernet-based
N=
PROFINET RT
E=
Ethernet/IP
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
26/44
Transport and storage
6 Transport and storage
There are no special transport instructions for this product. Please observe,
however, the notes in Chapter 2 “Safety instructions“ and for transport and storage
adhere in any case to the ambient conditions given in the technical data of data
sheet 30543.
6.1 Storing the VT-HACD-3-2X
For preparing the control electronics for storage and further use, proceed as follows:
▶▶ Use the original packaging for storage.
▶▶ Adhere to the permissible storage temperature range of -20 °C to +70 °C.
▶▶ Protect the VT-HACD-3-2X against dust and humidity.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Installation27/44
7 Installation
CAUTION
Fault currents and short-circuits!
Impaired safety and malfunction.
▶▶ The surroundings must be free from conductive contamination (acids, lyes,
corrosive agents, salts, metal vapors, etc.), and the device must not be exposed
to them. Generally, rule out deposits according to protection class IP 65.
▶▶ Prevent the ingress of dust and humidity into the control electronics
VT-HACD-3-2X.
Cables lying around!
Risk of stumbling.
▶▶ Route cables and lines so that they cannot be damaged and nobody can stumble
over them.
Incorrect power supply!
Uncontrolled drive behavior.
▶▶ Use exclusively a power supply unit with protective separation.
▶▶ Always observe specific national regulations.
NOTICE
Great differences in potential!
Risk of destruction of the control electronics VT-HACD-3-2X by plugging in or
removing the electronics while connected to the power supply.
▶▶ Disconnect the relevant system part from the power supply before you plug,
remove or connect the electronics. Damage to the electronics caused by
incorrect installation is not covered by the warranty!
▶▶ Observe the protection class, the voltage supply and ambient conditions as
specified in data sheet RE 30543.
7.1 Unpacking
Dispose of the outer packaging in accordance with the regulations valid in your
country.
7.2 Installation conditions
When installing the control electronics, adhere in any case to the ambient conditions
specified in data sheet RE 30543.
7.3 Required tools
No special tools are required for installing the electronics.
7.4 Installing the VT-HACD-3-2X
Mount the VT-HACD-3-2X on a mounting rail in the control cabinet as follows:
1. Disconnect the relevant system section from the power supply.
2. Carefully snap the backpanel of the VT-HACD-3-2X in on a mounting rail.
Mechanical contact points on the elastic backpanel of the VT-HACD-3-2X ensure
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
28/44Installation
proper fit on the mounting rail and connect the housing with the grounding
system of the control cabinet.
Position
Press down
Click into place
Fig. 8: Mounting the VT-HACD-3-2X on a mounting rail
Contact points
Mounting rail 35 mm
TH 35-7.5 to EN 60715
Fig. 9: Contact points of the VT-HACD-3-2X for mounting on a mounting rail
Please observe the following when mounting the control electronics VT-HACD-3-2X:
▶▶ Observe the notes on applicable standards and operating conditions in the data
sheet when installing the control electronics.
▶▶ Use low-capacitance cables.
▶▶ Whenever possible, provide cable connections without intermediate terminals.
▶▶ Lay sensor cables separately.
▶▶ Do not install sources of electromagnetic interference (e.g. frequency converter)
in the direct vicinity of the control electronics.
▶▶ The distance to aerial lines, radio sources and radar equipment must be at least
1 m.
▶▶ Do not install solenoid and signal cables near power cables.
▶▶ Use shielded cables (EMC-compliant) as valve cables.
▶▶ Execute the installation so that when the differential inputs are used both inputs
are activated or deactivated simultaneously.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Installation29/44
▶▶ Use relays with gold-plated contacts for switching command values (small
voltages, small currents).
▶▶ Do not use adhesives, sealants or insulating agents that contain silicone.
▶▶ The system ground is an essential integral part of EMC protection of the control
electronics. Here, interference, which is transported to the control electronics via
data and voltage supply cables, is dissipated. This function can only be ensured, if
the system ground itself does not inject interference into the control electronics.
Bosch Rexroth recommends that also solenoid cables be shielded.
▶▶ Ensure maintenance-friendly installation, i.e. ease of access to the connection
cables. The connection side must be freely accessible. The cable ends should be
sufficiently long in order that the control electronics can also be removed in the
wired condition.
▶▶ Before installing the control electronics note down the details given on the
nameplate. If nameplates are no longer visible or legible after the installation you
have this data at hand at any time.
7.5 Connecting the power supply
To connect the electrical supply to the VT-HACD-3-2X proceed as follows:
1. Disconnect the relevant system section from the power supply.
2. Inspect all cables for intactness.
3. Establish the power supply to the VT-HACD-3-2X via the plug-in connection X1S
“Power“.
4. Establish the connections of the analog and/or digital inputs/outputs in
accordance with the application at hand via the plug-in connections X2M1 “DIO“
and X2A1 “AIO“.
5. Switch the power supply on and make sure that voltage is applied to the
VT-HACD-3-2X and the LED “PWR“ is on and that the bus signal is present and
the LED “BUS“ is on.
The VT-HACD-3-2X is now connected to the electrical supply.
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
30/44Installation
7.5.1 Notes on wiring
Fig. 10: Proper wiring
1. Engage the VT-HACD-3-2X on an appropriate C section.
2. Ground the electronics housing and the filter elements on the electronic boards
via the conductive connection between the housing and the C section → rear wall
of the control cabinet.
3. Connect the cable shields of the encoder and AD/DA connections conductively
to the C section using shield clamps. This connection of the shields to the C
section at the rear control cabinet wall must be made close to the VT-HACD-32X. To establish the connection, strip the cable sheath end and then clamp the
wire beneath the shield clamp (see Figure). (Shield clamps, e.g. from Murrplastik
SK 3-8 shield terminal 3-8 mm, Art. no.: 87201060 or SK 4-13.5, Art. no.:
87201062).
4. Connect both GND to X1S (Power).
7.5.2 Notes on the connection of tension spring clamps
Fig. 11: Tension spring clamps
Litz wires must not be visible from outside.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Commissioning31/44
8 Commissioning
With regard to commissioning in conjunction with bus systems, also observe the
following instructions:
PROFINET RT
RE 30543-05-Z
Ethernet/IP
RE 30543-04-Z
PROFIBUS
RE 30543-01-Z
8.1 Configuration software “BODAC“
To solve project planning tasks, the user can utilize the PC program “BODAC”. It
serves for programming, setting and diagnostics of the VT-HACD-3-2X.
Scope of performance:
•• Convenient dialog functions for online or offline setting of machine data
•• Dialog window for online setting of parameter values
•• Comprehensive options for displaying process variables of digital inputs, outputs
and flags
•• in conjunction with WinView, recording and visualization of up to eight process
variables with a great choice of trigger options
The PC program “BODAC” is not included in the scope of delivery. It can be
downloaded on the Internet free of charge at: www.boschrexroth.com/hacd
Queries: [email protected]
8.1.1 PC installation requirements
The following system requirements must be met for the PC program “BODAC“:
•• IBM PC or compatible system
•• Windows XP, Windows Vista, Windows 7
•• RAM (recommended: 256 MB)
•• 250 MB free hard drive capacity
•• RS232 interface or USB converter
8.1.2 Installation of “BODAC“
For the installation of “BODAC“ proceed as follows:
▶▶ Download the file “BodacSetup*.exe“ from the www.boschrexroth.com/hacd
web page to your PC.
▶▶ Execute the “BodacSetup*.exe“ file.
The file will be unpacked.
▶▶ Select the desired language.
▶▶ Follow the installation instructions. After having installed the program, you can
start it by clicking on the file “BODAC*.exe”.
“BODAC“ is now completely installed on your PC.
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
32/44Commissioning
8.1.3 Configuration of the VT-HACD-3-2X with BODAC
The required parameter file can be created offline and transmitted to the
VT-HACD-3-2X from the PC. Software-assisted project planning is carried out
according to the following steps:
1. Start “BODAC“.
2. Select the relevant VT-HACD-3-2X from the selection window.
3. Define the desired application using the block structure.
4. Set the desired parameter values (sensorics, controllers, ...). Follow the
instructions given in the “BODAC” online help.
5. Transmit the data to the VT-HACD-3-2X.
6. Save the data in the flash.
The generation of the parameter file is now completed.
The settings and the operating sequence of the machine are optimized on the
machine.
It is possible to load parameter files of the VT-HACD-3-1X to the VT-HACD-3-2X.
Structure editor
In conjunction with the VT-HACD-3-2X, BODAC offers the structure editor. The
structure editor is enabled and can be used for creating own motion sequences. For
this purpose, 32 blocks are available.
Parameter set name: HACD2_Mode3_Editor.param
Each block contains: Command value, acceleration, deceleration (velocity +,
velocity –) and controller parameters.
The blocks are activated by setting trigger conditions: Setting digital inputs,
comparison of signals with freely definable thresholds or elapse of wait times.
In addition, observe the following instructions: BODAC online help RE 30543-01-B.
8.2 Initial commissioning of the VT-HACD-3-2X
To commission the VT-HACD-3-2X, proceed as follows:
1. Inspect all cables for intactness.
2. Make sure that voltage is applied to the VT-HACD-3-2X and the “PWR“ LED is on.
3. Make sure that the bus signal is present and the “BUS” LED is on.
4. Install the commissioning and configuration software “BODAC“ on your PC.
5. Connect your PC to your VT-HACD-3-2X by means of an RS232 interface cable.
6. Configure the VT-HACD-3-2X with the help of BODAC. In this connection, follow
the instructions given in Chapter 8.1.3 “Configuration of the VT-HACD-3-2X with
BODAC“ above.
7. Optimize the settings of the parameter file and the operating sequence on the
machine.
8. After having finalized the settings, save the parameter file of the VT-HACD-3-2X to
your PC.
Initial commissioning of the VT-HACD-3-2X is now completed.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Commissioning33/44
8.3 Recommissioning after repairs and reconditioning
After repair or reconditioning, the VT-HACD-3-2X is returned with the default values.
For recommissioning, proceed as follows :
1. Inspect all cables for intactness.
2. Make sure that voltage is applied to the VT-HACD-3-2X and the “PWR“ LED is on.
3. Make sure that the bus signal is present and that the “BUS“ LED is on.
4. Connect your PC to your VT-HACD-3-2X using the RS232 interface cable.
5. Transmit the saved parameter file from your PC to the VT-HACD-3-2X.
6. Save the parameter file in the flash of the VT-HACD-3-2X using the command “Set
Parameter to Memory“ from the “Controller“ menu.
Recommissioning after repairs and reconditioning is now completed.
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
34/44Operation
9 Operation
The operation of the VT-HACD-3-2X is based on a parameter file that is to be created
during commissioning. The parameter file contains the block structure of the
VT-HACD-3-2X, in which logic operations of the variables are created.
For monitoring and diagnosis of the VT-HACD-3-2X during operation you can use
the optional diagnostic software “WinView“ (which is not contained in the program
BODAC). If you have not yet downloaded this software together with BODAC you can
find the download section at the following Internet site:
www.boschrexroth.com/winview
9.1 Diagnostic software “WinView“
WinView is a program for the visualization of variables recorded during operation.
The user program transfers the data to WinView for graphical representation. The
data can be saved in the specific file format .GRA and reloaded.
9.1.1 Installation of “WinView“
To install “WinView“ proceed as follows:
1. Download the file “winview*setup.exe“ from the website
www.boschrexroth.com/winview to your PC.
2. Execute the file “winview*setup.exe“.
The file is going to be unpacked.
3. Select the desired language.
4. Follow the installation instructions. After completion of the installation you can
start the program by clicking on the file “winview.exe”.
“WinView“ is now completely installed on your PC.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Maintenance35/44
10 Maintenance
10.1Cleaning and care
NOTICE
Ingress of contamination and humidity!
Malfunction!
▶▶ When carrying out any work on the VT-HACD-3-2X observe strictest cleanliness.
▶▶ Prevent the ingress of humidity and contamination into the perforated housing
of the VT-HACD-3-2X.
▶▶ Use only a dry and dust-free cloth for cleaning.
Solvents and aggressive detergents!
Damage to the surface of the VT-HACD-3-2X and faster aging.
▶▶ Never use solvents or aggressive detergents.
For cleaning and care proceed as follows:
▶▶ Inspect all plug-in and clamping connections of the VT-HACD-3-2X for correct fit
and damage at least once a year.
▶▶ Check cables for rupture and squeezing. Have damaged or defective cables
immediately replaced!
▶▶ Clean the housing parts with a dry and dust-free cloth.
10.2Repairs
The VT-HACD-3-2X can only be replaced as a whole unit.
Unauthorized modifications to the VT-HACD-3-2X are not permitted for safety
reasons!
Repair and reconditioning work may only be carried out by Bosch Rexroth AG.
For repair and reconditioning work, send the device to the service address given in
Chapter 16.1 “Address directory“ on page 39.
After repairs and reconditioning, the VT-HACD-3-2X is returned with default
values. User-specific settings are lost. The operator must re-transmit relevant user
parameters and programs.
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
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Removal and replacement
11 Removal and replacement
No tools are required for replacing the VT-HACD-3-2X.
11.1Preparing the removal
Decommission the entire system as described in the general manual for the
system. In any case, bring the system to a safe state, shut it down, depressurize it,
disconnect it from the power supply and secure it against being restarted.
11.2Carrying out the removal
NOTICE
Electric arcs and short-circuit!
Risk of destruction of system components.
▶▶ Place down the plug-in connectors so that no short-circuits can occur.
To remove the VT-HACD-3-2X, proceed as follows:
1. Disconnect the connection cables and unplug plug-in connectors.
2. Remove the VT-HACD-3-2X from the mounting rail.
Apply pressure and
tilt out top down
Press down
Fig. 12: Removing the VT-HACD-3-2X from the mounting rail
11.3Preparing the components for storage/further use
To prepare the VT-HACD-3-2X for storage and further use, proceed as follows:
▶▶ Use the original packaging for storing.
▶▶ Adhere to the permissible storage temperature range specified in RE 30543.
▶▶ Protect the control electronics against dust and humidity.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Disposal37/44
12 Disposal
12.1Environmental protection
Careless disposal of the VT-HACD-3-2X and the packaging material can lead to
environmental pollution.
▶▶ Therefore, dispose of the VT-HACD-3-2X and the packaging material according to
the national regulations of your country and recycle the material.
13 Extension and conversion
The control electronics VT-HACD-3-2X must neither be extended nor converted. If
you modify the VT-HACD-3-2X the warranty will be rendered void.
Only the use of optional accessories is permitted.
13.1Optional accessories
Table 6: Accessories that can be ordered
Designation
Material number
PC program BODAC, CD, SYS-HACD-BODAC01
R900777335
Interface cable, cable set RS232, length 3 m
R900776897
USB/RS232 converter
R901066684
Plug-in connector type 6ES7972-0BA41-0XA0 for PROFIBUS DP R900050152
CD with BODAC software SYS-HACD-BODAC-01/
R900777335
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
38/44Troubleshooting
14 Troubleshooting
14.1How to proceed with troubleshooting
Always act systematically and focused, even when under pressure of time. Random
and imprudent disassembly and readjustment of settings might, in the worst-case
scenario, result in the inability to ascertain the original cause of fault.
•• First get a general idea of how your product works in conjunction with the entire
system.
•• Try to clarify whether the product worked properly in conjunction with the entire
system before the troubles occurred.
•• Try to determine any changes of the entire system in which the product is
integrated:
––Were there any changes to the product’s operating conditions or operating range?
––Were any changes made or repairs carried out on the complete system (machine/
system, electrics, control) or on the product? If yes, which?
––Was the product or machine used as intended?
––How did the malfunction manifest itself?
––Try to get a clear idea of the error cause. Directly ask the (machine) operator
•• Make use of the diagnostic features for “BODAC” and “WinView” for
troubleshooting:
If you cannot rectify the error, contact one of the contact addresses which can be
found at: www.boschrexroth.com/adressen or in the address directory in Chapter
16.1.
15 Technical data
For the technical data of control electronics VT-HACD-3 series 2X, please refer to the
technical data sheet RE 30543.
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Annex39/44
16 Annex
16.1Address directory
16.1.1Contacts for repairs
Bosch Rexroth AG
Service Industriehydraulik
Bgm.-Dr.-Nebel-Str. 8
97816 Lohr am Main
Germany
http://www.boschrexroth.com/service
E-mail: [email protected]
16.1.2Contacts for support
Bosch Rexroth AG
Zum Eisengießer 1
97816 Lohr am Main
Germany
Phone +49 (93 52) 18-11 32
Fax +49 (711) 811 517 1031
E-mail: [email protected]
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
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Alphabetical index
17 Alphabetical index
▶▶ A
▶▶ O
Abbreviations7
Operation34
Accessories37
Adjustment to hydraulic system
18
Analog I/O
16
▶▶ P
Performance description
14
Personnel qualifications
▶▶ B
Block circuit diagram
8
Pinout20
22
BODAC31
Position controller
17
Power supply
–– connection29
▶▶ C
Cleaning and care
Preparing the components for
35
storage/further use
36
Commissioning31
Pressure/force controller
17
Configuration32
Process connectivity
16
Configuration software “BODAC“ 31
Product description
14
Controller functions
17
Controllers17
▶▶ Q
Qualification8
▶▶ D
Diagnostic software “WinView“
34
Digital I/O
16
▶▶ R
Removal and replacement
36
Digital position measuring system 19
Repairs35
Disposal37
Required and supplementary
documentation5
▶▶ E
Environmental protection
37
Errors
▶▶ S
Safety instructions
8
–– detection and treatment
19
–– general9
Extension and conversion
37
Scope of delivery
13
Signal linking/arithmetic operations
▶▶ G
General instructions
18
9
Storage26
System overview
15
▶▶ I
Identification of the product
Improper use
25
8
▶▶ T
Technical data
38
Indicator lamps
21
Tension spring clamps
Initial commissioning
32
–– connection30
Inputs and outputs
16
Terms used
7
Installation27
Tools27
Installation conditions
27
Transport26
8
Troubleshooting38
Intended use
Interfaces15
▶▶ U
▶▶ M
Maintenance35
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Unit dimensions
24
Unpacking27
Alphabetical index41/44
▶▶ W
WinView34
Wiring notes
30
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
42/44
Alphabetical index
Bosch Rexroth AG, VT-HACD-3-2X, RE 30543-B/09.12
Alphabetical index43/44
RE 30543-B/09.12, VT-HACD-3-2X, Bosch Rexroth AG
Bosch Rexroth AG
Zum Eisengießer 1
97816 Lohr a. Main
Deutschland
Tel. +49 (0) 9352 18-0
[email protected]
www.boschrexroth.com
Subject to revision
Printed in Germany
RE 30543/09.12
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