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Radial piston Pump RKP-D Application Instruction

1. Time Constant s r Controller Output Differentiator P Chutpiut 1338 7500 oe Limitation ee Ta N e E E a a ees D Output Gain decrease 0 0400 Upper Output 100 0000 Time Constant e 0 0020 Lower Output 100 0000 Active Set 1 parameter 1 3 und 4 use for optimization change parameter 2 conditional e use all other parameters for special applications only Figure 30 Editing of the pressure control parameter example shown with pressure control parameter set 1 26 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo e Via the pull down menu select the pressure control parameter The selection of a specific parameter set is simply for editing and has no effect if the parameter set is active e The desired P gain proportional to control deviation can be entered in the field Proportional Gain e Enter the value in the field Gain to optimize the l gain so the control deviation will be applied for a definite range e The value for l Control Range has two meanings Both the input and the output of the integrator will be limited to this value positive and negative The unlimited value at the input of the integrator corresponds to the control deviation between demand and actual pressure control window in percentage of nominal pressure e The output of the integrator is frozen whenever Q contro
2. cccsscccseccesscccececeseeceeccceucecacecueecseeceeueesaeessueesgeeessueesueessaeesaess 8 Table 10 General requirements for pump electronics cccceccceeccceeeeeeeeeceeeceeeeeeeeeseeeeseeessaeeeaeeeseeeeseeesaeeesaess 9 Table 11 Default settings of operation modes and the according pressure controller settingsS 0 12 Table 12 Comparison of the terms for fault reactions and CAN addresses between Firmware DV001 DV007 and DVOTO peasan m aaa aaa a a a a a eeeeee 34 Table 13 Default settings Data LOQQGED cccccecccscecsecceceeeneeeeeceeeseeteneesecseeeseeceneesaeeteeesaeetaeesseetaueeeeessneees 37 iii Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH List of Figures List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 voltage si Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 ICCC connections Ol RKPD stastaieseeeadecctiels save stators a a waeoest 4 FONT VIEW ON ING Cable serrin to ecdant atone atest a a a a T Junction cable for master slave combinations cccecccceeecseececeeeceeeeeeeeaeeeesecesseeeesueesaeeeseeesseeeseees T GANSC ONMECIOR KS AN arei a A a e T Front view on the cable external thread Pin contact eee ecee ce eeeeeececeeeeeeeeeeeeeseeeseseneseeeseeees T Supported types of pres
3. Actual alue_p 0 0000 Power Limitation fint TEW foaga Control Bits a 30 0000 enable via Bus on S moo ee OE mnin Rrra eee Power_DifferentialT imeConstant 0 0040 ee J ae 2 1 Power_DifferentialGain 0 0300 Figure 37 Power control Firmware DV001 Figure 38 Power control Firmware DV007 and DV010 Firmware DV001 Firmware DV007 and DV010 The designation of power is indicated in kilowatt The Gesianation ol tower o A percente rae of KW The value of power limitation of the pump is 9 p A p g maximum power based on 100 of the stroke and depending on the size of the pump and the rotation o l i 100 of the internal pressure signal speed The control parameters are freely selectable The default adjustment is equal to the adjustment of the pressure controller in 1 parameter set 30 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo 4 5 Analogue operation mode switching It is possible to choose a parameter record which contains control word and pressure control parameter set by an analogue voltage input X 7 only voltage 0 10V is possible Tab 11 Content of parameter set Local Control Word Pressure Control Parameter Set Information of Hybrid Mode Control Mode is possible only up to Firmware DV001 This value correspond to the active record if uploaded Coifmunication Application Contro
4. ko Wamnho GCaD renee a a A marae l PO SVD ara E A E A A E N A noe 2 E S E A cemmscaaacanateest 2 1 7 1 Sale OPSral ON e Maaaciddacesadstcudeacdaluncscnieradtaasnatoommctutnenaaoas 2 1 7 2 WOK Sal OLY rori e a A 2 1 7 3 General Safety Instructions ceeeececscccccccccccccceesssseesessssssccceeesesscccceeesesesststttasessseeeeees 2 1 7 4 ESD Electrostatic Discharges a re S 2 1 8 Environmental Safety DISPOSAL ssiasssssieiedooinie nebantehdsvin se yctitdludeisernude neh dlsloul dined donuaties malneueleine 3 t9 RAGIMOMAlGOCUMISMLAU OM sranie a a A A 3 ZAIN AeA Ny Or RKP D aisa A A 4 2 1 Mechanic and hydraulic installation cc ccccccccesssssssssssssceeeeeecccceceeseeeessestsseeeeeeeeceseeeeeeeeegs 4 22 HEICCUIC COMME CTOINS ese E wvedcetdeauschavisaed easbeneetandassdaubanes 4 2 2 1 IPE POIS COMMECION X Tenani a a 6 2 2 2 Local CAN for Master Slave Combinations X10 sssessessssssssssessssssessrrrsssssssssereessssss 7 2 2 3 CRIN COMMS CTON AS AN AP danane ae uamatatendecieb sabe sues S abegaedeebeoelsd 7 2 2 4 External Pressure Sensor INpUtsS oeeeeseesessesssssrerrrrrrrrrsersssssssserrrrrrerreresssssssssrrrrrreeess 7 2 2 9 Analogue Operation Mode Switching X7 cccccccccccccccsssssseeeccceeeeesessseeeceeeeeesstseeeeeees 8 2 2 6 Mate Connector with Connection Cable for Inputs X5 X6 XT ou cc cccceceeeeeeeeens 8 2 2 1 General Requirements for Pump Electronics eeessseseeeeeseeerrrrrr
5. 3 eis pa Solo nptx6 2 8V a riers a fso Tapa xe 8 0 S i00lters pQ Soo Inptx6 35V e Bete pra s mue 40V 7 oies Q Solo Inputxe 45V e ooms o so Tague OV fe omes pQ Soo mpte 55V inputx6 65V input xe 70V 13 a eot a Sao OV EO A 1 Requires initial calibration of the hybrid flow adjustment by the end user The RKP D stages initially need to be designated as master or slave by the end user 3 Voltage levels apply 100 mV Table 11 Default settings of operation modes and the according pressure controller settings 12 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning without Moog Valve Configuration Software MoVaCo gt Table 11 shows the assignment of the impressed voltage at X7 to the corresponding operation mode The operation modes 1 13 are created for optimization of pressure controller In operation mode 14 the pressure controller is deactivated Regardless of the current pressure set point the RKP D will follow the flow set point solely Operation modes 15 and 16 have been created for special modes of operation namely Hybrid and Master Slave mode However it requires some extra work prior to the pump set up which will be explained more explicitly in the upcoming chapters The selection of the operation modes can be both static one parameter set for the complete cycle as well as dynamic different parameter sets for different phases within the pr
6. aximum Pressure 100 Source analoginput 7 Y Minimum Pressure 10 0000 m r ak 0 100 Pressure Offset Minimum Signal Maximum Signal nooo Tooooa 00 0000 Reference Pressure bar 44 250 Figure 24 Adjustment of interface No 3 X7 The same logic is used for analogue operation mode switching Interface No 3 is connected with X7 Controller Interlace Diagnosis Store Restore Information Communication Application Controller Interface Diagnosis Store Restore Information Pressure Analogue Parameter Set Switching Main Stage Communication Application Mam Stage Pressure Analogue Parameter Set Switching Parameter Records Interface No 3 iw Parameter Records aa i a Source Interface No 3 LT hybrid flow 6 0000 i J SODE hybrid flow 0 0000 4 0 off On 4 1 Of On set control mode local control word pressure parameter hybrid set control mode local control word pressure parameter hybrid 1 p0 me ACTIVE PRSENA 17 uo ACTIVE PRSENA a0 ACTIVE PRSENA I0 2nd Parameter Set W 0 ACTIVE PRSENA I 3rd Parameter Set w 4 0 of 2 p0 ow ACTIVE PRSENA I 0 2nd Parameter Set Y W 3 p0 ow ACTIVE PRSENA 19 3rd Parameter Set 1w d s a pa WT ACTIVE PRSENA HIY ah Parameters iv 0 To 5 To E 6 0 To 7 To Fo e 7 To s a0 a0 10 p Q ef ACTIVE PRSENA Iwi 10th Parameter Setii b 0 z a0 Figure 25 Adjustment for analogue para
7. 10V X1 At negative values of flow set point the pump changes the direction of flow Up to minus 100 flow are possible Ata pressure set point of x V U75 XV X1 the pump limits its displacement ensuring that the pressure corresponding to the x V output signal of the pressure transducer connected to the connector X6 will not be exceeded The pressure controller applies the pre defined parameter set No 1 which has been created for the smallest oil volume in the system With this selected parameter set a stable behavior without oscillation of the pressure controller is expected This can be used as a starting point for further optimization of dynamics Leakage compensation will be performed by the RKP D automatically As the system pressure increases the given internal flow set point will be increased to compensate the internal pressure dependent pump leakage and to achieve actuator velocities which are nearly independent of the system pressure 3 2 How to use the analogue operation mode switching In order to obtain an optimal setting maximum dynamics and optimal transient behavior of the pressure controller it is recommended to optimize the pressure controller parameters for the current oil volume of the system The RKP D is equipped with 16 pre defined operation modes These operation modes are to be called up via a 0 10V analogue signal at the connector X7 PIN 4 2 Mode Mode Sensor 228 iers pra Soto Treat 20V
8. a 1 Error Figure 16 Uploading data for a specific file here continuous upload Clicking on the option attributes will show a window containing information on the selected parameter such as for instance the internal name of the parameter it s data type read write access and whether it can be stored in non volatile memory The option download allows to explicitly write a parameter into the valve though this is normally done automatically whenever the input of a new parameter value is confirmed by pushing enter on the keyboard 18 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo 4 2 3 2 Device control set points actual values state machine MoVaCo Version 2 54c Overview state of the control variable Switchover of set points not stored in nonvolatile memory Set point Input locally means set point via analogue inputs X1 Set point via Bus means set point via the field Se or via CAN Bus with the specified address Switchover of the display Control loop stroke ring position Control loop pressure Control mode Via these switching points the control loops position control loop stroke ring pressure control loop can be activated and deactivated not stored in nonvolatile memory Field Hold This set point is active when the status machine is in the hold status Field S
9. lap Valve Transducer Analogue Input Signals Analogue Setpoint Signals Cable Break Monitoring Supply Current J Voltage Input Only Q Setpoint 5 0 10 4 wire Of am On 1a lee iV y AT D tv 4 wire p Setpoint KLT 44 10 j Cable break monitoring for Input X6 is active Figure 45 Example for cable break monitoring Firmware DV007 and DV010 4 8 Storage and load of settings 4 8 1 Data storage in non volatile memory of the valve electronics As soon as the optimal parameter settings have been found it is important to save the data into the non volatile memory of the valve Otherwise the parameter settings will get lost after switching off by power off of the valve electronics Data storage into the non volatile memory of the valve can be executed by going to the tab Store Restore and activating the button alf in the field Store Parameters gt Figure 46 It is also possible to save a pre defined section of the parameterization via the buttons application communication and manufacturer specific However this is not of relevance to most of the pump set ups Hence those functions will not be explained here explicitly Communication Application Controller Interface Diagnosis Store Restore Information Store Parameters Restore Parameters application application manufacturer specific manufacturer specific Figure 46
10. special fault reaction to a certain fault Figure 43 Configuration of fault reactions Firmware DV007 and DV010 Firmware DV0O07 and DV010 All possible fault reactions are documented in the User Manual Firmware Radial Piston Pumps RKP D with CAN Bus Interface Table 63 page 112 et seq Application Instruction RKP D CA58548 001 Version 1 3 05 11 33 Commissioning with Moog Valve Configuration Software MoVaCo Example 29 cable break analo Figure 44 Possible fault reactions 34 NONE EMERGENCY FAULT DISABLE FAULT HOLD FAULT STOP voreingestellt nicht veranderbar input 3 Cormunication Application Controller Interhace Errors ressure sensor input X6 Firmware DVOO7 and DVO10 Diagnosis Storer Restore Information Fault Configuration Counters pilot single stage vdt cable break al SFAULTSTOP 7 S FAULTSTOP 8 S FAULT STOP 19 NONE 20 NONE 21 lt NONE H25 S NONE 26 NONE HaT NONE 28 S NONE 29 NONE 30 NONE 31 NONE Haz S NONE 33 NONE Had NONE 35 piloty single stage tdt position out of range pilotsingle stage dt circuit failure man stage lvdt cable break fain stage lydt position out of range FAULTSTOP 22 S FAULTSTOF 23 S FAULTSTOP 24 marn stage lydt cireut Failure internal pressure transducer cable break Internal pressure transducer circuit failure Internal pressure transducer pre
11. tmpfautyp 0x4016 sub index 0x00 faurea 13 0x2830 sub index 0x0e faurea 15 Ox2830 sub index 0x10 comfautyp 0x401b sub index 0x00 faurea 90 0x2830 sub index 0x5b SYNC sncfautyp Ox401d sub index 0x00 faurea 112 0x2830 sub index 0x71 1st Receive PDO pdrfautyp 0 0x401e sub index 0x01 faurea 94 faurea 98 0x2830 sub index 0x60 0x2830 sub index 0x64 2nd Receive PDO pdrfautyp 1 Ox401e sub index 0x02 faurea 95 0x2830 sub index 0x60 faurea 99 Ox2830 sub index 0x64 faurea 100 Ox2830 sub index 0x65 faurea 101 0x2830 sub index 0x66 local CAN faurea 78 0x2830 sub index Ox4f local CAN faurea 79 Ox2830 sub index 0x50 3rd Receive PDO locpdrfautyp 2 0x5a04 sub index 0x03 faurea 76 local CAN faurea 80 0x2830 sub index 0x4d 0x2830 sub index 0x51 local CAN faurea 8 1 0x2830 sub index 0x52 Table 12 Comparison of the terms for fault reactions and CAN addresses between Firmware DV001 DV007 and DV010 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo With firmware DVOO7 or higher it is possible to detect cable break separately for supply lines and signal lines In this case the switch of the accordant input must be activated if a voltage sensor is used Figure 45 Communication Application Controller Interface Diagnosis Store Restore Information E ewes ee Analogue
12. 1 Version 1 3 05 11 1 General Information 1 6 Symbols Denotes important instructions Denotes lists e bzw gt Denotes reference to another chapter another page table or figure in the User Manual as well as supplementaldocumentation 1 7 Safety 1 7 1 Safe Operation WARNING WARNING gt WARNING It is the responsibility of the manufacturer and the operator of the machinery to ensure safe operation of the Radial Piston Pump As in any electronic control system the failure of certain components in RKP D as well might lead to an uncontrolled and or unpredictable operational sequence All types of failure on a system level must be taken into consideration and appropriate protective measures must be taken For RKP D all hints and instructions of the User Manual RKP II are relevant Additionally for RKP D the following standard to the safety of machinery is relevant DIN EN 60204 Safety of machinery Electrical equipment of machinery The protective conductor connection C5 if provided is connected to the electronics housing or valve body The insulation materials employed are designed for use in the safety extra low voltage range The field bus circuit connections if provided are only functionally galvanically isolated from other connected circuits To comply with safety regulations requires isolation from the mains according to EN 61558 1 and EN 61558 2 6 and limiting all voltages according to EN
13. 2 Saving of the parameter settings under an external data storage device 36 4 8 3 Transmission of a log file from an external data storage device cece eeeeeeees 37 49 Data LOG GCM a E N N G 37 5 MAINTENANCE AND REPAIR oarrineiuikona a a a E R a A a N da 38 Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 ii List of Tables List of Tables Table 1 Electric connections Of RKP D ccccccccssscccececeseeccaeeceseeceeeceuseesaeecueeseecsaeesaeessaeesseessageeaueessaeesaess 4 Table 2 Mod l Status LED IWS sitet scceccie a a eoh pan cation a zelda dant ake taste eal tcs 5 Tables NeiWwork Stat s LED INS cc csuinisa sangria decvauinSnabindd i ea a nods uaneOiabuadn seleestadtuaniaie 5 Table 4 Wiring for 11 PE pole connector X1 ccccccescccceeecceesececseeeesauecsneeeseucessegeesaueeessaseesesetensesessaneeneas 6 Table 5 Wiring Local CAN Connector scx ca iscasecodeavesnueed hediawnheen alsa nanddavas saisdicwetadiaidepeldeinkadiwiahodenaueitdatidianatiadiadavandas T Table 6 WINNE CAN COMME COM phases ccsratectatuaranscatindien suet cguntiSedalbiahensnani a e T Table 7 Wiring connector of pressure SENSOM ccccecceecceseeceeceeetecesneeceucceeeeueceeeceueeseetneesgeteeeseeceeteneeseees T Table 8 Wiring connector of analogue operation mode SWILCHING ccccccceeeeceeecseeeeceeeseeeeeeeeeeseeeseeesseeeeeees 8 Table 9 Connector pin assignment X5 XG XT
14. 60204 1 We recommend using SELV PELV power supplies 1 7 2 Work Safety User Manual RKP II additionally is relevant WARNING The magnets of the permanent magnetic linear motor of the digital valve may be the cause of strong magnetic fields These magnetic fields cause interferences to sensitive devices like pace makers Maintain the respective device related safety clearance 1 7 3 General Safety Instructions User Manual RKP II 1 7 4 ESD Electrostatic Discharge WARNING Electrically discharge may damage components of the valve of RKP D Mountings and spare parts must be saved of electrostatic charging Particularly avoid the direct contact with the pins of connectors Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH General Information 1 8 Environmental Safety Disposal User Manual RKP II 1 9 Additional documentation Additional documentations to the Application Instruction RKP D e User Manual RKP II Radial Piston Pump e User Manual Firmware Radial Piston Pumps RKP D with CAN Bus Interface e Benutzerinformation elektrische Schnittstellen only available in German language e Mounting and Installation Notes RKP II Radial Piston Pump e RKP D Catalogue e 1TN353 Protective grounding and electrical shielding of hydraulic valves with integrated electronics e TN494 Cable lengths for servo valves with integrated electronics The current versions are available under http www moog com
15. APPCICATON INSTRUCTION RKP D Radial Piston Pump RKP D with CAN Bus Interface CA58548 001 Version 1 3 06 11 WHAT MOVES YOUR WORLD Copyright 2008 Moog GmbH Hanns Klemm Strake 28 71034 Boblingen Germany Telephone 49 7031 622 0 Telefax 49 7031 622 191 E Mail sales moog com Internet http www moog com Industrial All rights reserved No part of these commissioning guide may be reproduced in any form print photocopies microfilm or by any other means or edited duplicated or distributed with electronic systems without our prior written consent Offenders will be held liable for the payment of damages Subject to change without notice Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 A Table of Contents Table of Contents COD VIG Gszsivsuecesanmasseiencecns aseacesubusis Aa A nace nar mole eu aasmaa ns ig aehe aadeaapeameeceeas A BYES ello at rc 2 cs eee eS nee enn eS A Ee ee eee ne Te nee ann eee iii LISONI IU Sraa a r a E E meesedotaues IV T SGENERALZING ORMA FON caren a vice stint vlad a a 1 1 1 References for the Application Instruction eeesssseessesseserrrrrsssssssssessssserrrrerrrrresssssssseererereeereeesses l 1 2 Subject to change without notice and validity ccc cccsscccccceesssssssceeecceeeeessseeeeceeseestsseeeeeees l la EXC USONONIaDI V ssaa a E Sauneacteticais doncivniswseesoacen shee l IA SACRA K Sae a a a a wtestlaitecndetediancene aes l
16. Co starts with the set up of communication with the valve pump As soon as the communication has been built up successfully the parameters which are installed on the valve will be uploaded automatically 16 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo 4 2 2 Offline mode The corresponding xml file is named accordingly to the software version Figure 15 Moog alve Configuration Software Select valve firn ae C Programme Moog Moog Valve Configuration Software wersions Y Suchen in 5 versions 4a E 2 B99224 DVYYY Y YYYYY xml lt 2 B99224 DVYYY Y YYYYY xml B99224 DVXXKX X XXXXX xml 2 B99224 DVYYY Y YYYYY xml 2 B99224 DYYYY Y YYYYY xml 2 B99224 DVYYY Y YYYYY xml I Dateiname B99224 DXXX X XXXXX xml Dateityp fi erni r Abbrechen Corrurication Application Controller Infetlace Diagnosis Store Restore Information Device Control EAN oper Capability Device Hode Setpoint Input locally vil E p Q D5408 Stroke Ring Position Pressure Device Code Number EO Device Parameter Code 40 M Closed Loop sates lantval Open Loop z Device Version Bao Serial Number DOTZE E Get Device Description in Demand 02969 Device Model Description MOOG PAN Open _Interface 2930 201 0001 Ate nq 4000 Device Model URL WIA moog com Deviation SGeS159 Device vendor Name MOOG GmbH H
17. FING TO HM eaea ce tenstcaeldama taste cia ateueae cane ouaasboelt inden ceauausetaraeeuaatoaeuatuaes 18 A232 Basic MMTONMAMOM ssscssesehtiasresvinksenecdiedagenseeiet dist asnenessecaveadbadadneaetdeteMaesecseals 18 4 2 3 2 Device control set points actual values state machine 0 19 AES HC ORMMMISSIONING OL FS P Darn ation ane oiteaw a a A names wetiaaeiaes 21 4 3 1 Pressure transducer AdjUStMe nt cccccceessssssscceeceeeeeeecccececeeeesesseessneeeeeeeeeeees 21 4 3 2 Adjustment of the Set point values 00 eeeccesccccccecccccccccccccceseseessssststeeeeeeeseceeeeees 24 4 3 3 Optimization of the pressure control 0 0 0 ec ceccceeeseessssceceeceeeeeececceeeeseeeseetetsntseeeees 25 4 3 3 1 Individual AdGJUSTMENK 0 eee cccceccccccccecccccccccccceeseeseeesssseeeeeeeeececeeeeeeegs 26 4 3 3 2 Help for adjustment of pressure control parameters 28 AA TOW ST COU cerea ent naive ease te oa oe gra et cee cata Sec ssa aa eae artes 30 4 5 Analogue operation mode switching cccccccescesssessssssesccccccccececececccececceeeeceeeeeeeeeeeeesseeeeeees 31 4 6 LEAKAGE COMPENSAUON wisc tse deeeid sa weesiee ets hannah each wade eis cede ens 32 4 Fault FrEActorr managemen cesuren 33 4 8 Storage and load Of settings 000 0 eeeeccesccscccceecceecccccceeseeeeesesssssseeeeeececceccesessesssseeeeeeeeseeeeees 35 4 8 1 Data storage in non volatile memory of the valve electronics cecceesseeeeees 35 4 8
18. Figure 42 Configuration of fault reactions Firmware DVO001 cece ceccececeeeeeeteeeeseeseeceseeeeseeseeeeeeeaeeeaes 33 Figure 43 Configuration of fault reactions Firmware DVO07 and DVO010 ce ceecceceeeeeeeeeeeeeeeeeseeeeseeeeens 33 Figure 44 Example fault reactions 29 cable break analog input 3 pressure sensor input X6 Firmware DIV OOF and VOTO esate cite seeders sens an a ode ash atresia anise oleae telat eci dete 34 Figure 45 Example for cable break monitoring Firmware DVOO7 and DV010 cece eeece sees eeeeeneeeees 35 Figure 46 Menu for saving the parameter settings and restoring the factory settings ccceceeeeeeeeeeee es 35 Figure 47 Save the parameter settings on an external data storage device via LOg File ccceeeeeee 36 FIGUIE46 BrOWSEr to store a Log FeS airina aN a A A 36 Figure 49 Download of a log file in the data storage device volatile memory of the valve electronics 3 FOW o0 Data LOGGET israr nie teste acetic ieee eee ley adadda et Alois E E a ag ees 37 FOW ol Repar guall SCAN agaosiceigislenteadoretes ea el eee sided a eaters lie eel leeebe een aig eas 38 V Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH General Information 1 General Information 1 1 References for the Application Instruction The present application instruction is only for Radial Piston Pump RKP D with digital on board electronic and is a part of t
19. IOV E wee p Setpoint KLF 10V Figure 22 Configuration of analogue Input X1 4 X1 7 X5 X6 X7 Firmware DV007 and DV010 Controller interface Diagnosis Store Restore Information Analogue Parameter Set Switching Monitor Actual Value Filter Comer Frequency J 50 0000 Filter Order 4 Ej 22 a Gan 00000 Control Range 09949 N rae Se High Pass Gain Gain 14s 1 0000 d 0 0000 Controller Output Time Constant e p Differentiator P Qutput 1338 7500 aas ee a Output 183 6000 Gain increase Negative Flow 00 0000 D Olutout a Gain decrease l Upper Output 100 0000 Time Constant s ooo Lower Output 400 0000 Output 3 1614 Active Set Figure 23 Allocation of the analogue signal from X6 as pressure actual value here valid for parameter set 1 for pressure control Firmware DV007 and DV010 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo Interface No 3 with source X7 wont be configured like the pressure transducer X7 is a analogue input 0 10V and will be used for analogue operation mode switching Communication Application Controller Interface Diagnosis Store Restore Information Analogue Input Transducer Interface No 3 vi 9 6619 Type analog direct Actual Value Sion positive Y Pressure Transducer Analogue Direct Transducer
20. Menu for saving the parameter settings and restoring the factory settings Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 35 Commissioning with Moog Valve Configuration Software MoVaCo With pushing of the button all in the field Restore Parameters the default settings from the factory will be activated and written in the volatile memory This is useful when the user is not satisfied with the current parameter settings and wishes to have the initial settings back in a simple way 4 8 2 Saving of the parameter settings under an external data storage device The current parameter settings can be saved in an external file It is strongly recommended to do so since this allows to reactivate them in a simple manner in the event that they are needed This can be executed by going to the menu bar under File and select the option Save Figure 47 File Network Trace Data Format window Help sl belies 26 E Application Controller Interface Diagnosis Store Restore Information Store Parameters Restore Parameters application application manufacturer specific manufacturer specific Figure 47 Save the parameter settings on an external data storage device via Log File As a result a browser appears The user can browse and determine the directory the data should be saved under Figure 48 Save Data to Disk 4 xj Fie Name Parameter Attribu
21. Power amplifier not active Controller turned off DISABLED Power amplifier not active pump behaves as in status INIT The actual value of the sensors will be processed HOLD Control set points which are set in the cell Hold will be activated Bus Local 4 ACTIVE Normal operating status this status will be taken automatically during start up when no error occurs and the pump is in analogue mode The Pump can change the status in the event of an error reaction or via a click of a cell If the pump leaves the status ACTIVE because of an error reaction the error Hea e g cable break has to be removed prior to switchover to a new status via clicking on the arrow button next to the yellow cell FAULT acknowledgement of the error followed by clicking on the desired new status also possible valve OFF ON or enable signal The area contains parts of control In analogue mode Control word Local has to be always active and must not be and status word changed The status of Control word Local will be displayed in the tab Local only Figure 18 Displayed information for status machine 20 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo 4 3 Configuration of RKP D 4 3 1 Pressure transducer adjustment Should the pump be operated in p pressure control or p Q pressure flow con
22. Windows 95 98 ME NT 2000 XP VISTA 128 MB RAM 10 MB free hard disk memory Monitor 640x480 resolution keyboard mouse USB to CAN adapter card Moog order code C43094 001 CAN cable with 5 poles CAN female connector and 9 poles D Sub female connector incl a terminating resistor for one on one connection between notebook and valve without further bus participants Moog order code TD 3999 137 Figure 10 USB to CAN adapter card Figure11 CAN cable Moog order code C43094 001 Moog order code TD 3999 137 Software Moog Valve Configuration inclusive a matching runtime version 14 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo 4 1 2 Installation of CAN to USB adapter card Install the adapter card with the supplied driver software MoVaCo supports the driver version VCI2 and VCI3 4 1 2 1 Driver version VCI2 va x To ensure that the installation has been carried out successfully it is l Hardware oes necessary to perform a hardware test after the installation Hardware a Sa ET Wd USB to CAN compa _Deteuit Hw Test e Go to the Windows menu under Control panel on the icon IXXAT Interfaces Hardware Install Belrstall e Select the item USB to CAN compact and click on Default hardware if the characters are not of blue color After USB to CAN compact is select
23. a CAN communication Procedure for individual balancing Find out the stroke ring position during the process of pressure control in closed hydraulic system with high value of pressure Q and Q in The difference of the stroke ring positions divided by pressure difference Ap bar is the compensation factor 4 7 Fault reaction management Communication Application Controller Interface Diagnosis Store Restore Infomation Errors Fault Reaction Settings Counters Common Piggy Back Cable Break External Lydt Ino fault reaction v Analog Input 2 5 no fault reaction v Analog Input 3 X6 no fault reaction v Anang inputs pS no Fault reaction Ig Communication Application Controller Interface Diagnosis Store Restore Information Errors Fault Reaction Settings Counters Common Piggy Back Controller Communication p O p Controller Fault Disabled v Communication Fault Disabled v ONNES no fault reaction 2 tst Receive PDO jno fault reaction 2nd Receive PDO ino fault reaction Y v Y 3d Receive PDO no fault reaction vi yi 4th Receive PDO no fault reaction _ Cable Break Analog Input 0 no fault reaction __ Y Analog input 1 ino fault reaction v f E Local CAN Voltages tst Receive PDO no fault reaction v Power Supply no fault reaction vl 2nd Receive PDO no fault reaction _ A l A eek EOR 3rd Receive PDO ino fault reaction v Others 4th Receive PDO
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25. aired valves or replacement valves are like new valves delivered with the factory settings In the event of a repair job for defective valves we and our authorized service centers shall not accept liability for software and data installed by the customer Valves must be checked prior to starting up for correct configuration and possible altered parameters Altering the configuration or the parameters may change the function of the valve to such an extent that it will no longer function as specified in these operating instructions Incorrect configuration will result in danger due to e Uncontrolled sequences of motions e Destruction e Malfunction Authentic Moog Repairs are performed exclusively by us or our authorized service centers This is the only way of accessing the latest specifications required for repair work With these specifications the original valve performance data can be re established and the customarily high reliability and long life cycle can be guaranteed even after repairs REPAIR Figure 51 Repair quality seal Our repair seal is a guarantee that an authentic Moog repair has been performed In the event of a repair job for defective valves we and our authorized service centers reserve the right to perform a repair or after consultation alternatively to supply replacement valves with an identical or compatible equipment specification Moog Service Addresses Please refer to the following page o
26. alogue operation mode switching Figure 7 Front view on the cable external thread Pin contact 2 2 6 Mate Connector with Connection Cable for Inputs X5 X6 X7 Available from Moog or C Escha Bauelemente GmbH L 2m Moog ordering No C72977 002 or Escha Type 8028332 L 5m Moog ordering No C72977 005 or Escha Type 8028333 IP65 4 x 0 25 mm2 PUR screened not included in delivery of RKP D Figure 8 Mate connector for X5 X6 X7 Connector pin COC assignment 1 brown BN Table 9 Connector pin assignment X5 X6 X7 8 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Installation of RKP D 2 2 7 General Requirements for Pump Electronics yaya 24 Volt DC min 18 Volt DC max 32 Volt DC with a single fault proof ok power supply e All signal lines including those applied in connection with external Shielding transducers shielded e Shielding on power supply side connected radially to GND OV and connected to the mating connector housing because of EMC EMC Meets the requirements of emission EN61000 4 4 2001 10 and immunity EN61000 6 2 1999 External fusing 1 6 A slow blow for each pump Duty cycle 100 28 8 W 1 2 A at 24 VOC consumption Sree See i gt 0 75 mm 18 AWG Consider voltage losses between cabinet and RKP D Table 10 General requirements for pump electronics Note When making electric connections to the RKP D shield protective earth approp
27. am controlo RIN sacs tcasances a a A Oaia AS 26 Editing of the pressure control parameter example shown with pressure control parameter set 1 Optimum run fast pressure build up and pressure rele ASE ccccccsecesseeceeeeeeeeeeeeeeeteneceeesaneees 28 EOW CAIN e E aeaten ene tae oeleeint asa uctingsnanclautatenauieene 28 PONO IGM sexecircoteactshatnte dre seme gia lente E a NTR E 28 D Gain increase and D Gain decrease to high ccceeccecseeeeseeeeeseeeeeeeeeeseeeeesaueeeeaeesseeeeeaeees 29 D Gain increase and D Gain decrease to lOW cccccccceeeeeseeecaeeeseeeeeeeeeseeesseeeseeeeseeeeaeeeesaeees 29 THIS AC OMS COP N GUM asec tenet th Seas diet ee tg Ss tee ee ere cee eee acer atime Gat 29 Power coniro Firmware DVO Tia feted acd ciate oe ata setae c dese a ebtaned eaeeasa meetaseans 30 Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 IV List of Figures Figure 38 Power control Firmware DVOO7 and DVO10 cc cecccccccecceeeeeeeeceseee cece eeeaeeceeeeeueeseeteeeseeteeeeneees 30 Figure 39 Analogue parameter set switching Firmware DV001 and DVO07 cccecceecseeeeeeeeeeeeeeeneeeens 31 Figure 40 Local control word setting in analogue parameter Set SWItCHING cccceeeccseeeseeeeeeeeseeeeeeeesaes 32 Figure 41 Leakage COMPENSATION cccseccsscceceecceeeeccueccueeecaueceusescaeecaueecsuccsuauesaeesueeseeessugeeseeessaeesseesssasenes 32
28. annsklemm Strasse 2a 0 71034 Boeblingen Germany Bus Local CANopen m Controlword Local Device Name O930 207 001 WOT READY Ramp Stop f Hardware nee ens INIT PAS can Software Version B99224 DVXXX X XXXXX Limit _ DISABLED FAULT amp AE FAULT enor Reset Fault Figure 15 Description of the software version identical with the name of the corresponding xml files For training and demonstration purposes MoVaCo can also be applied in offline mode i e physically not connected to the valve After selection of the Offline button a browser appears By means of this browser a xml type file can be selected which corresponds to the firmware of the valve to be simulated The name of the corresponding file accords with the software version number installed on the valve and to be found under the tab Information CANopen Figure 15 Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 17 Commissioning with Moog Valve Configuration Software MoVaCo 4 2 3 Hints for HMI 4 2 3 1 Basic information In order to keep the load on the CAN bus low the data shown on the display is usually not updated automatically nor on a cyclic basis To make sure that the displayed data reflects the actual value or status on the valve it is recommended to click with the right mouse button on the corresponding data cell on the display A drop down menu will appear which allows to select among other opportunitie
29. asure peak analog input 0 supply cable Break short circuit analog input 1 supply cable breaks short circuit ahalog input supply cable Break short circuit analog input 3 supply cable break short circuit analoginput 4 supply cable break shork circuit analog input 0 current too low 4 20m4 S00 overtlow voltage ahalog input T current too low 4 20m4 400 overflow voltage analog input 2 curent too low 4 20m4SS00 overflow voltage analog input 3 current too low 4 20 m4 400 overflow voltage analog nput 4 curent too low 4 20m4 ADC overtlow voltage eee eee eee on eee ad aed Peet Figure 44 Example fault reactions 29 cable break analog input 3 pressure sensor input X6 Firmware DV007 and DV010 Due to the change from Firmware DV001 to Firmware DVO07 respectively DV010 in MoVaCo the CAN addresses have changed This has to be considered if a valve is to be configured by laoding a log file or by generating the CAN addresses directly Table 12 Firmware DV001 Firmware DV007 and DV010 Fault type CAN address CAN address Controller ctlfautyp 0x4017 sub index 0x00 faurea 65 Ox2830 sub index 0x42 faurea 67 0x2830 sub index 0x44 Analog Input O anafautyp 0 0x4019 sub index 0x02 faurea 31 Ox2830 sub index 0x20 Analog Input 1 anafautyp 1 0x4019 sub index 0x02 faurea 32 Ox2830 sub index 0x21 Power Supply pwrfautyp 0x4015 sub index 0x00 faurea 6 0x2830 sub index 0x07 Temperature
30. ation Software MoVaCo 4 2 Howto run MoVaCo When you first start MoVaCo after successful driver installation the following steps must be executed Network Board configuration Detect Hardware Select CAN Interface VCIx x ausw hlen The bit rate and CANopen node number Node ID must be _ identical with the parameters amp which have been installed on the After starting MoVaCo the following menu will start CAN Interface Card Valve Pump IXx4 T Automation GmbH i UISB to CAN compact valve Ea Otherwise a Hw098974 CANopen communication with the valve is Port 1 impossible Bitrate For valves and pumps with CAN Node ID 500 Kbit sec a interface the pre setting ex factory for bit rate is 500 Kbit sec and the node number is 127 Figure 13 Start menu adjustment of baud rate and node number In case the bit rate is known but not the node number the valve can be brought to send a boot up message by turning the power off and on This boot up message contains an information about the node number of the connected component You can choose between the following operation modes Communication with a valve Push the button Connect Online Cormect Online Offline Mode Offline mode Push the button Offline Mode Figure 14 Selection between online and offline mode 4 2 1 Connection to the valve of the pump After the Ok button is pushed MoVa
31. behavior Ex works the RKP D is preset for the connection of a pressure sensor to plug X6 The analog interface is set by factory for a 0 10V output signal in 4 wire mode Connector X6 provides a unstabilized supply voltage of 18 32V DC and a maximum current rating of 200mA The connecting schematic illustrates the situation gt Figure 6 When the supply voltage and the enable signal applied the RKP D electronic is operational This is indicated by a LED on the housing of the electronics of the pilot valve If the valve is operational this LED labeled MS is illuminated green If this LED is off or illuminated red a malfunction is indicated Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 11 Commissioning without Moog Valve Configuration Software MoVaCo 3 Commissioning without Moog Valve Configuration Software MoVaCo 3 1 Behavior of the RKP D with default settings ex factory If the RKP D is mounted as delivered from the factory and as described initially connected electrically this results due to the default settings ex factory in following behavior The examples relate to voltage values set point actual Also applicable for current signals The pump is automatically in p Q mode flow control with superimposed pressure limitation The pump delivers 0 l min at a flow set point signal of OV U4 5 OV X1 The pump delivers its maximum flow at a flow set point signal of 10V U4 5
32. e settings Differential voltage inputs Current inputs 4 mA to 20 mA 0 V to 10 V floating floating Cc o Enable siara 8 5 V to 32 V DC based on pin 10 operation of the pilot valve enabled J lt 6 5 V DC based on pin 10 pilot valve fail safe condition 3 Uin U4 5 lin l4 l5 with l7 0 Set point signal Q R 20 kQ R 200 O 5 Reference reference to ground common feedback input rated command for pin 4 and pin 7 for pin 4 and pin 7 Voltage signal output Uout 2 V to 10 V to GND At 6 V the stroke ring Is Output positioned in centered position The RKP D delivers 0 flow actual stroke ring oe position Current signal output lout 4 mA to 20 mA to GND lout iS proportional to actual stroke ring position Output is short circuit proof RL 0 to 500 Q Uin Uz lin lz l5 with l4 0 Set point signal P R 20 KQ R 200 Q Voltage signal output Uout 2 V to 10 V to GND 2 V corresponds to 0 pressure 10 V corresponds to 100 pressure 3 Output i Current signal output lout 4 MA to 20 mA to GND lout iS proportional to actual pressure actual pressure Output is short circuit proof RL 0 Q to 500 Q EEEE 24 V DC 18 V to 32 V DC P max ppIy g 28 8 W Fault indication error control U lt 0 5 V means fault 11 D Protective conductor contact Table 4 Wiring for 11 PE pole connector X1 The potential difference from pin 4 5 and 7 Suitable Mating Connector 11 PE measured against pin 10 eac
33. ed adapter has to be connected for this test click on the software button Test A window with the Det R cca e message Hardware Test was successful will appear immediately m E err fe ae igure 12 Hardware Test to if the communication works properly adaptercard 4 1 2 2 Driver version VCI3 When using the operating systems VISTA the driver version VCI3 is required Before installing the driver version VCI3 the pre installed drivers for lower version eg VCI2 x must be removed The current driver versions and tools to uninstall older IXXAT drivers are available on the producer side or http info moog com industrial downloads http mooginfo com industrial downloads Recommendation connect the USB to CAN adapter always on the same USB port because the IXXAT drivers for every available USB port must be installed separately 4 1 3 Installation of the Moog Valve Configuration Software MoVaCo The installation on the computer will be proceeded in 2 steps 1 Installation of the runtime version 7 11 If an older version is already installed it will be uninstalled at the first setup In this case the setup must be executed again 2 Installation of MoVaCo 3 x If an older version is already installed it will be uninstalled at the first setup In this case the setup must be executed again Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 15 Commissioning with Moog Valve Configur
34. eeeseeeeseeessaeeeseeesaeeeaes 20 Relation between transducer signal and internal actual pressure VAIUC cccccseeceeeeeeeeeeeeees 21 Adjustment analogue Input X6 for a pressure traNSCUCElL cccceccccececeeeeeaeeeaeeeeseeeseeeeeeeeeaaeeaes 21 Configuration of analogue Input X1 4 X1 7 X5 X6 X7 Firmware DVO01 ccccceeeeeeeeeees 22 Configuration of analogue Input X1 4 X1 7 X5 X6 X7 Firmware DV007 and DV010 22 Allocation of the analogue signal from X6 as pressure actual value here valid for parameter set 1 for pressure control Firmware DVOO7 and DVO010 cc cceecc cece eeceeeece cece eceeeceeeeseeteeeesaeesueeseeceueeseesaueeseeeaes 22 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 Adjustment of interface No 3 XT sacecnces sss 2ceccedectctecloascneseane den Dennbousd Myvbos vaxweusderse bseedeeche unde eaneeeiweeet 23 Adjustment for analogue parameter set switching Firmware DV001 cccccecceeeeeeeeeeeeeeeeeees 23 Adjustment for analogue parameter set switching Firmware DVOO7 and DV010 006 23 Adjustment of the input for the pressure Set point VAlUC ccc ceecce eee seeeeseeeeeeeeeaeeeaeeeeseeees 24 Selection of parameter set for pressure control Firmware DVOO7 and DV010 ce eeeeee ee 25 Block di gr
35. ent Should the parameter set by parameter set approach turn out to be not sufficient again the best fitted pressure parameter set can be applied as a starting point for further optimization of each of the pressure control parameters The setting of pressure control parameters is to be found under the tab Controller Pressure Parameter Figure 30 O normal adjustment exception Pressure Demand Druck Sollwert Proportional Gain a r pee O for high frequency oscillation i OE Integrator small signal Integral gain l control range p Differentiator N Constant limitation negative flow Schluckbegrenzung Actual pressure Druckistwert Output limiter Parameter Upper limit cmpprsupp lower limit cmpprslow Minimum Strokering position Hubringposition Pressure controller output Flow Demand Sollwert Hubring O Figure 29 Block diagram control of RKP D Communication Application Controller Intertace Diagnosis Store Restore Infornatiori Main Stage Fatt PASSO Power Limitation Analogue Parameter Set Switching Parameter Monitoring Edit 1st Parameter Set 1 i Proportional Gain Transducer x il Interface No 2 Actual Value Filter P Gain Stroke Ring Position Corner Frequency pagai Feedback Filter 0 I ES Integrator ga i ET Controal Range i f High Fass Gain 000 Gain 1 g 00000
36. et This set point is active when the status machine is in the Active status and the Device Mode is set to Set point via Bus Field Demand Current set point corrected via slope limiting and scaling function as well as leakage compensation Values are readable only input for the control loop Field Value Current actual value readable only Field Deviation Current control deviation readable only State machine Selection of Control Mode with MoVaCo Version 3 x only via pull down menu z i Spool Position P Closed Loop Open Loop will be elected automatically E Closed Loop Source splset Open Loop Hold So 0000 on Besa Demand 0 0000 EZ Value 0 0000 Deviation 0 0000 The other options of MoVaCo Version 2 54c remain unchanged Bus E Controlword Local Ramp Stop Enable Pressure Iv DISABLED FAULT A FAULT l MoVaCo 3 x Ca eror ACTIYE Figure 17 Displayed information on the control parameters on the right hand part of the MoVaCo HMI Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 19 Commissioning with Moog Valve Configuration Software MoVaCo The electronics of the pump can be in 4 different states The cell in yellow highlights the current status for instance ACTIVE During start up the pump goes through all 4 states INIT
37. fo faut reaction Y Temperature Fault Disabled ad Figure 42 Configuration of fault reactions Firmware DVO001 Firmware DV001 The fault reactions displayed in Figure 42 are configurable in the customer level of MoVaCo Moog GmbH Counters NONE ___Fan nsastsenanensnsnneranersnnenentnanrnnsnsanrssntnansnsensnarsnsranenensenents NONE internal pressure transducer cable break 3 NONE internal pressure transducer circuit failure NONE internal pressure transducer preasure peak s NONE analog input 0 supply cable break short circuit NONE 27 analog input 1 supply cable break short circuit s NONE analog input 2 supply cable break short circuit NONE analog input 3 supply cable break short circuit s NONE analog input 4 supply cable break short circuit NONE analog input 0 current too low 4 20m4 4DC overflow voltage NONE NONE NONE NONE analog input 1 current too low 4 20m4 4DC overflow voltage analog input 2 current too low 4 20m4 4DC overflow voltage analog input 3 current too low 4 20mA ADC overflow voltage analog input 4 current too low 4 20m4 ADC overflow voltage NONE analog input 0 circuit failure NONE analog input 1 circuit failure NONE analog input 2 circuit failure NONE analog input 3 circuit failure NONE analog input 4 circuit failure With this settings it is possible to assign a
38. ge stabilization must be provided for the supply of the voltage divider on the unregulated 24V Data for the lay out of the voltage divider Input resistance of the analogue input 20 kQ Current drawn from the 24V voltage supply must not exceed 100 mA Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 13 Commissioning with Moog Valve Configuration Software MoVaCo 4 Commissioning with Moog Valve Configuration Software MoVaCo The Moog Valve Configuration Software abbr MoVaCo is a supporting tool applied on configuration and set up of Moog digital interface valves DIV and pumps with digital control RKP D and last but not least as a diagnosis tool In the case that the factory settings of the RKP D for the desired use are not likely to MoVaCo allows easy access to a variety of parameters to adjust the RKP D for each application individually 4 1 The following information and images are related to the MoVaCo version 3 x With this version of MoVaCo the firmware DV001 DV007 and DV010 can be equally configured Depending on the existing firmware the valve configuration window may differ Set up of the CAN communication The communication between the MoVaCo software installed on a computer and the RKP D happens via CAN bus according to CAN open standards CiA DS 301 305 a 408 4 1 1 Requirements Hardware IBM compatible computer minimum requirements 800 MHz processor
39. h must be between Moog Order Code B97067 111 15 V and 32 V 1 As pin 5 is the common feedback for pin 4 and ea es D important note Only the use of specified mating s 7 15 T 14 7 connector metal shell in combination with proper Reference to pin 10 Supply ground shielding to meet the EMC requirements 3 Note Type of signal can NOT be switched via software and has to be specified when designating the model code 4 warning voltage metering directly at the connector pin10 The measurement signal will be falsified by output resistance of GND With voltage level gt 0 5V at pin11 X1 the RKP D signalize operating to the superior control The voltage level lt 0 5V signalize fault 6 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Installation of RKP D 2 2 2 Local CAN for Master Slave Combinations X10 Pin Sint M8x1 3 pol 1 CAN_H Transciever H Figure 2 Froni CAN_GND 4 BK CAN_L Transciever L Table 5 Wiring Local CAN Connector BU 3 1 BN Available from Moog or C Escha Bauelemente GmbH L 0 3 m Moog Ordering No C43395 001 or Escha Type 8031233 IP65 3 x 0 25 mm2 PUR screened not included in delivery of RKP D Figure 3 Junction cable for master slave combinations 2 2 3 CAN Connector X3 and X4 Signal S es alt Pin contact X3 bushing contact X4 CAN_SHLD Shield M12x1 5 pole M12x1 5 pole CAN_V No connection in the valve 4 3 3 4 5 5 Tab
40. he product The document describes various possibilities of the commissioning of the pump This application instruction is an additional documentation to the User Manual Radial Piston Pump RKP II For correct mounting und operation the instructions and warnings of the User Manual Radial Piston Pump RKP II must be carefully attended to Non observance can result in to damage to people and property It is obligatory to read and understand the Product Manual Radial Piston Pump RKP II The current version of the user manual Radial Piston Pump RKP II is available under http www moog com industrial 1 2 Subject to Change and Validity The information in this Application Instruction is valid as of the date this version of the Application Instruction is released Version number and release date of this Application Instruction are noted in the footer The Application Instruction at hand is subject to change at any time and such may be made without justification 1 3 Exclusion of Liability This Application Instruction was prepared with the greatest possible care and the contents generated according to the best of the author s knowledge However the possibility of error cannot be prevented and improvements may be possible We would be pleased to receive your comments about possible errors or incomplete information Nevertheless Moog does not offer any guarantee that the contents conform with applicable legal regulations nor does Moog accept any liabili
41. industrial Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 3 Installation of RKP D 2 Installation of RKP D 2 1 Mechanic and hydraulic installation Danger It is necessary to install the RKP D according to the rules and recommendations given in the e User Manual RKP II Radial Piston Pump User Manual Firmware Radial Piston Pumps RKP D with CAN Bus Interface Benutzerinformation elektrische Schnittstellen only in German language RKP D Catalogue TN353 Protective grounding and electrical shielding of hydraulic valves with integrated electronics e TN494 Cable lengths for servo valves with integrated electronics in regards of mechanic and hydraulic installation The hints given there have to be taken into account in order to avoid any damage to persons and to the pump and to provide maximum service life It is of special importance to limit the hydraulic pressure to a maximum of 280 bar This must be done by means of a correctly sized pressure relief valve that has to be installed in the pressure line directly connected to the pressure port of the pump If a pressure sequence manifold is used the pressure relieve valve is typically part of the manifold design In this case the customer still has to take care of the correct adjustment of the pressure relieve valve 2 2 Electric connections X3 X4 X7 X6 X5 Status LED MS und NS Figure 1 Electric connections of RKP D Degree of protection for valve a
42. l takes over The behavior of the DT1 gain will be tuned via the parameter Gain separately definable for increasing and decreasing pressure actual values as well as via the parameter Time constant In the present control architecture the DT1 gain does not depend on the course of the control deviation but on the actual pressure value At first the DT1 gain is used to damp the system e Stroke Ring Position Feedback The position of the stroke ring flow rate is proportional to pressure change in closed volume That means that the rating of this state quantity Fig 29 30 in pressure control is similar to the D rate But it results in to a stationary control deviation The stationary control deviation will be avoiding if the Stroke Ring Signal uses a high pass l l Q Fig 29 30 is the time constant T in s of the high pass Tasi o 2r f e n pressure control mode the responsiveness of the stroke ring can be reduced by limiting the pressure control input to the pilot valve with the fields Upper Output and Lower Output 100 Upper Output means full dynamics for displacement of the stroke ring 0 means no displacing movement For most of the applications the default settings 100 Upper Output and Lower Output can be kept without any modifications The limitation of dynamics will be typically applied in order to avoid cavitations e g when conditions for suction are not optimal Moog GmbH Applicatio
43. le 6 Wiring CAN connector 2 2 1 Key Key Figure 4 CAN Connector X3 X4 2 2 4 External Pressure Sensor Inputs Factory settings sensor signal 0 10 V 4 wire type Pin Signal Supply 24 V DC max 200 mA M 8x 1 4 pol Signal GND Supply GND Pressure signal 0 to 10 V bzw 4 mA to 20 mA WH 2 4 BK Table 7 Wiring connector of pressure sensor BN 1 3 BU Figure 5 Front view on the cable external thread Pin contact Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 7 Installation of RKP D Supported types of pressure sensors option factory setting RKP D option option supply 24V DC supply 24V DC supply 24V DC supply 24 DC signal 4 20 mA signal 4 20 mA i XG il p F signal 010V A signal 0 10V id signal GND Ay p A signal GND 12 5 l y f C GND at 3 wire suppi GND GND supply GND t3 J eS TEE TE a aaa a ha x 2 and 3 wire sensor 4 wire sensor 3 wire sensor 4 wire sensor 4_ 20 mA 4 20 mA O 10 010V Figure 6 Supported types of pressure sensors Note Each option requires adequate setting of the analog interface via the Moog Configuration Software 2 2 5 Analogue Operation Mode Switching X7 Factory settings Differential input signal O to 10 V Pin sga OOOO T Supply 24 V DC max 200 mA Signal GND Supply GND ae en Signal 0 to 10 V BN 1 3 BU Table 8 Wiring connector of an
44. ller Interface Diagnosis Store Restore Information Main Stage Pressure Analogue Parameter Set Switching Parameter Records A vvocesoasnoe lll ocunedusoassodsneesn esse edusodusoauneesnedsnedusodssodunessn esse edupedusoeuneesn ese edubodusoduneesnessneduneduseaunoestnodsnedueduseduseasnedsnedunsduseduneesneesnedunedusedsnoasneesnesuneduseduseasneesnedunedunoduseasneesneduneduvedsseesneesnosuneduneduseseseed f a 1 Off On set control mode local control word pressure parameter hybrid po o a T E T T x T Source Interface No 3 Y hybrid flow 0 0000 eg ee ee ee 7 T T Ta Hybrid Mode hybrid flow size of the fix pump size of the RKP D x 100 hybrid 1 activated 0 deactivated This adjustments only effects the flow demand calculation In the case the flushing mode has to be switched off please contact Moog if you are using a RKP D with internal pressure supply Firmware DV001 Communication Application Controller Interface Diagnosis Store Restore Information Mam Stage Pressure Analogue Parameter Set Switching Parameter Records Source Interface No 3 ior hybrid flow eA HOOT L RSS a 0 Of On set control mode local control word pressure parameter hybrid NT ACTIVE PRSENA liv 1st Parameter Set_ Fi ACTIVE PRSENA W 2nd Parameter Set LY TH ACTIVE PRSENA iW 3rd Parameter Set 1Y rd ACTIVE PRSENA Ilw 4th Paramete
45. losed Loop Open Loop 200 Hald em Demand 6 2930 Value 341025 Deviation 34 8037 Source anial Bus Local m Controlword Local Ramp Stop Enable r Pressure Iv Limit FAULT a arp za FAULT HOT READY DISABLED 200 0 pines Demand Factor 1100 0000 o oo Otfset emar aCA L cece va a E z 00 0000 0 0000 Error Figure 27 Adjustment of the input for the pressure set point value Under the tab Application Main Stage Position and Application Pressure respectively there also is the tab Limit and Ramp Under Limif the limiting values for predefined values for flow stroke ring position and pressure can be set under Ramp ramps can be generated for these set point values For example Under the tab Application Main Stage Position tab Zero can be found Here the mechanical zero of the stroke ring can be adjusted Overall Gain for external LVDT strokering position There is also the possibility to apply an Offset and an Overall Gain to the actual strokering position value You ll find the adjustment under the tab Interface External LVDT Attention in this case you change the factory setting of the LVDT adjustment 24 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo 4 3 3 Optimization of the pressure control In order to all
46. me Constant to high the effect is big ae oscillation of pressure Figure 36 Figure 36 Time Constant to high Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 29 Commissioning with Moog Valve Configuration Software MoVaCo 4 4 Power Control In MoVaCo it is possible to give a threshold for power limitation The control word activates the power limitation Communication Application Controller Interface Diagnosis Store Restore Infomation Communication Application Controller Interface Diagnosis Store Restore Infomation Main Stage Position Pressure Pump aa Pump Flushing Mode Entry Hold Pressure Master Slave Maniana Cen ESE eH a E E Sh VAIS Pump Flushing in Operation enable trigger Capability time s 4 180 force hold pressure setpoints Solo vi dJ Setpoints in Use Slave Leakage Compensation setpoint gaiii al i from master Power_PTigain 0 0000 9 9976 Power PT1Shift s r Tore Trigger Level 4 100 0000 i prani leakage bar 0 0100 feed forward TSA Power_PT1TimeConstant 0 0500 from master feed forward iioo 7 prop gain Pressure Setpoint a 0 0000 Power_Maximum 29 9988 ____ Flow Setpoint 100 0000 Control Bifs Comtrol Bits Actua alue Q enable via Bus slave via Bus paii c 1 0000 Power_ProportionalG ain ES enable local os local Poweralue
47. meter set switching Figure 26 Adjustment for analogue parameter set switching Firmware DV001 Firmware DV007 and DV010 Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 23 Commissioning with Moog Valve Configuration Software MoVaCo 4 3 2 Adjustment of the set point values The signal type of the analogue set point values for pressure and flow will be specified Figure 20 as well as the external analogue inputs X5 to X7 will be adjusted on the same page Chapter 4 3 1 Pressure transducer adjustment Offset and gain are adjusted under the tab Application Main Stage Position Scale for the flow set point value respectively under the tab Application Pressure Scale for the pressure set point value For Demand Factor there are both a single field in the illustration below with the value 100 0000 and next to this two fields one arranged below the other in illustration 18 both are shown with the value 100 0000 Both describe the same Demand Factor while the latter one describes it in the form of numerator denominator resultant of the device profile DS408 The example Figure 27 shows 100 100 1 which corresponds to 100 Communication Appleation Controller interlace Diagnosis Store A Restore l Information Device Control Main Stage Position Pressure Pimp Device Mode Setpoint Input locally Limit Scale Ramp m p G Stroke Ring Position Pressure C
48. mmon return wire for l and l7 which meansil Iz Is The absolute size of 0 and 100 pressure depends on the signal range of the assembled pressure transducer respectively the software adjustment of current input Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 9 Installation of RKP D Output actual value 2V 10V to GND Note Type of signal is fixed and not switchable via software The actual stroke ring position can be measured at pin 6 the actual pressure at pin 8 of the 11 PE pole connector X1 These signals can be used for monitoring fault detection and visualization purposes The pressure range 0 100 and the flow rate 100 100 correspond to the output signal range of 2 10 V At 6 V pin 6 the stroke ring is in its centered position and the RKP D delivers zero flow at 10 V pin 6 the RKP D delivers 100 flow at 2 V pin 6 the RKP D delivers 100 flow At 2 V pin 8 the actual pressure corresponds to 0 At 10 V pin 8 the actual pressure corresponds to 100 The actual output signal allows to detect a cable break when Ugio O V and Usgi9 O V respectively Actual value feedback signals 4mA 20mA ground related Note Type of signal is fixed and not switchable via software The actual stroke ring position can be measured at pin 6 the actual pressure can be measured at pin 8 at the 11 PE connector X1 see diagrams in page 15 Those signals can be used fo
49. mplt RKP D with CAN Bus Interface Table 75 page 135 i N Table 13 Default settings Data Logger The possibilities to adjust the Data Logger are similar like to adjust an conventional oscilloscope Data Logger m c Eg File Format Options Window Help If Enable is selected ai Ga DO hedde Z EY the channel is activated iT Channel oy spival_ v If required the AC spldem Enable ACT coupling can be ieee activated Digits Divi Et Offset und gain scaling of the ea signal 16384 digits relates to 100 prsdem prsval Yi Enabe ACT Enable ACT alele Pere Digits Division Digits Division 4 4096 0000 4 nema Offset Offset 0 0000 40 0000 No Samples per Ch a 0 Scaling of the time axis input value equates to Time ms Division Time Stamp a 0 I I I 1 I I I 0 10 20 30 40 50 60 70 80 30 100 Tides Tye fee Coum o Shan Trigger Level 90 Switching on off the Data spidem v normal fl de i o Pre post trigger ms s 0 Log ger 7 snol si ina Figure 50 Data Logger Below the graphic display it is possible to change the trigger settings Trigger signal Type Coupling Slope Level Pre post trigger Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 37 Maintenance and Repair 5 Maintenance and Repair WARNING Repaired RKP D with rep
50. n Instruction RKP D CA58548 001 Version 1 3 05 11 27 Commissioning with Moog Valve Configuration Software MoVaCo 4 3 3 2 Help for adjustment of pressure control parameters Optimum run fast pressure build up and pressure release with low overshooting Figure 31 Figure 31 Optimum run fast pressure build up and pressure release Is the P gain to low the desired pressure value will lead to setting up very slowly Also identifiable that the valve is not open enough Figure 32 7 ae Figure 32 Low P gain Is the P gain to high the effect is extreme fast pressure build up pressure release with high frequent overshooting gt Figure 33 k 1 7 J i l i i l l l t j i l Ea ls ch ae l Ly I j i Figure 33 P gain to high 28 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo Is the D gain to high increase decrease the P gain is correct the effect is the damping of pressure build up pressure release is to high So the desired adjustment of pressure is to slow Figure 34 Figure 34 D Gain increase and D Gain decrease to high Is the D gain to low increase decrease the P gain is correct the effect is the damping of pressure build up pressure release is to low So regent overshooting will be the result gt Figure 35 Figure 35 D Gain increase and D Gain decrease to low Is the Ti
51. n our internet site for contact information relating to our service centers in your area www moog com worldwide 38 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH MOOG COM INDUSTRIAL For the Moog location nearest you visit moog com industrial globallocator Argentina 54 11 4326 5916 Australia 61 3 9561 6044 Austria 43 664 144 65 80 Brazil 55 11 5523 8011 China 86 21 2893 1600 Finland 358 92517 2730 France 33 1 4560 7000 Germany 49 7031 622 0 Hong Kong 852 2635 3200 India 91 80 4120 8799 Ireland 353 21 451 9000 Italy 39 0332 421 111 Japan 81 463 55 3615 Korea 82 31 764 6711 Luxembourg 352 40 46 401 Netherlands 31 252 462 000 Norway 47 64 94 19 48 Russia 7 31713 1811 SIET ole c 65 6773 6238 South Africa 27 12 653 6768 Spain 34 902 133 240 Sweden 46 31 680 060 Switzerland 41 71 394 5010 United Kingdom 44 1684 296600 USA 1 716 652 2000 2008 Moog GmbH Application Instruction RKP D CA58548 001 Version 1 2 11 08 All rights reserved Subject to changes WHAT MOVES YOUR WORLD info argentina moog com info australia moog com info austria moog com info brazii moog com info china moog com info finland moo0og com info france moog com info germany moog com info hongkong moog com info india moog com info ireland moog com info italy moog com info japan moog com info korea moog com info luxembourg moog com info netherlands moog com info norway moog com info russi
52. nd LVDT IP65 with connected plugs or appropriate protecting caps The appropriate protecting caps have to remain on the not used connectors No Description OoOO e Linear Variable Displacement Transducer LVDT Table 1 Electric connections of RKP D 4 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Installation of RKP D Modul Status LED MS The Modul Status LED displays operational and error states Module status MS Description Valve State Machine Status LED Word According to VDMA Profil Blinking green Valve standby mode Init or Disabled Blinking red see Fault Reaction Settings Fault Disable or Fault Hold FAULT DISABLE FAULT HOLD see Fault Reaction Settings FAULT STOP Table 2 Modul Status LED MS Network Status LED NS The network status LED displays the status of the CAN network Network Status NS Description Network Management State LED NMT According to CANopen No supply power or in state No supply power or in state stopped stopped This status is reached after boot up SDO Blinking green communication is possible steady state condition Pre Operational in analog operation SDO and PDO communication is possible Operational Table 3 Network Status LED NS Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 5 Installation of RKP D 2 2 1 11 PE Pole Connector X1 Factory settings Configurabl
53. ntrol word setting in analogue parameter set switching 4 6 Leakage compensation Communication Application Controller Interface Diagnosis Store Restore Information Main Stage Position Pressure Pump Pump Flushing Mode Entry Hold Pressure Master Slave Pump Flushing in Operation enable trigger Capability time s si 180 force hold pressure setpoints Setpoints in Use Slave setpoint from master feed forward from master akage Compensation Trigger Level 100 0000 leakage bal Pressure Setpoint 0 0000 feed forward prop gain Flaw Setpoint 100 0000 Control Bits slave via Bus slave local Canteofl Ba enable via Bus V enable focal This function compensates the pressure dependent leakage of the pump and the whole hydraulic system Figure 41 Leakage compensation 32 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH A pressure dependent part will be added to the external Q set value This functionality can be used in CAN mode and analogue mode Commissioning with Moog Valve Configuration Software MoVaCo p factor Q SET p pressure Oser ompensated extern The factor of leakage compensation is adjusted ex factory The factor itself can only be changed vi
54. ocess For static selection it would be sufficient to provide a fixed voltage to X7 The voltage can be created by means of a voltage divider just to name an example For dynamic selection of different operation modes an analogue output signal in range of 1 5V 9V provided by machine controller has to be connected with the connector X7 of RKP D It is important that the transition time between voltage steps at X7 be lt 1 ms Further the specified voltage levels have to be kept stable with noise nominally no more than 50mV This is to avoid constant switching from one operation mode to the other Operation mode 1 will automatically be activated as long as X7 is not connected Even if another operation mode has been selected and saved via MoVaCo a restart of the RKP D will activate that operation mode defined by the voltage signal at X7 If X7 is not connected then operation mode 1 applies To avoid this happening the input X7 has to be set OFF via MoVaCo see corresponding chapter Input X7 operates edge triggered A transition from one voltage step to the other will be recognized and leads to a operation mode switching over The supply voltage output at X7 PIN1 3 can be applied to supply a voltage divider for obtaining a signal for the analogue operation mode selection Be aware that this 24V voltage supply is not stabilized and consequently fluctuates with the power consumption of the RKP D An additional volta
55. ommissioning with Moog Valve Configuration Software MoVaCo For the selected analogue input the signal must be specified for instance 0 10 V potential free 4 wire or 4 20 mA grounded 3 wire Figure 21 and 22 Now the internal value received from analogue input X6 must assign to the pressure control See Illustration 13 the field Transducer In this case choose the before configured Interface No 2 with source analogue input X6 Figure 21 and 22 In Figure 21 and Figure 22 a 0 10 V 4 wire pressure sensor is configured Communication Application Controller Interface Diagnosis Store Restore Information Analogue Input Valve Transducer Analogue Input Signals Analogue Setpoint Signals Cable Break Monitoring Q Setpoint x5 0 10V 4 wire v X14 TW i XE 0 10V 4 wire vj x7 0 10 4 wire vi p Setpoint Figure 21 Configuration of analogue Input X1 4 X1 7 X5 X6 X7 Firmware DV001 Communication Application Main Stage Proportional Gain PiGain 8800 Feedback Integrator Power Limitation Stroke Ring Position Communication Application Controller Interface Diagnosis Store Restore l Information Analogue Input Valve Transducer Analogue Input Signals Analogue Setpoint Signals Cable Break Monitoring Supply Current Voltage Input Only Of am On Q Setpoint wee 0 TOV 4 wre 1 4 7 10V me 0 10V 4 wre EEO
56. ow adaptation of the pressure control to different circumstances 16 pressure control parameter settings are selectable The first 13 parameter sets are pre configured ex factory for increasing hydraulic volumes While parameter set 1 has been generated for 0 1 liters system volume parameter set 13 has been generated for a system volume of 50 liters All parameter sets can be modified by users if required In the event that no specific parameter set has been selected via bus or by means of analogue operation mode switching the parameter set with the uncritical but inertial parameter setting factory preset operation mode 1 1 Parameter Set will be activated Derived from this stable parameter set further optimization steps can be taken to improve the dynamics One practical approach is to go step by step with the next parameter set until the optimal one has been found This can be executed by using the operation mode switching function In dependency of the voltage level at the analogue input X7 one specified operation mode out of 16 assigned to this voltage level will become active The voltage level configuration and the corresponding volume is described in gt Chapter 4 4 Alternatively the selection of a pressure control parameter set can be executed by means of MoVaCo Under the tab Controller Pressure Parameter the desired pressure control parameter set can be selected in the field Active Set In this case the analog
57. r Set v Fy ACTIVE PRSENA I Sth Parameter set e Control Mode only with lt Firmware DV001 F ACTIVE PRSENA W i fr ACTIVE PRSENA Il 7th Parameter Set_ vq ACTIVE PRSENA Ilw 8th Parameter Set 7 J IT ACTIVE PRSENA Iii Sth Parameter Set Y J IT ACTIVE PRSENA I 10th Parameter Set w Figure 39 Analogue parameter set switching Firmware DV001 DVO07 and DV010 Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 31 Commissioning with Moog Valve Configuration Software MoVaCo Local control word settings Application Controller Interface Diagnosis Stores Restore nformatiory Pressure Analogue Parameter Set Switching Parameter Records Source Inbetace No 3 rs hybrid flow 0000A local control word pressure parameter hybrid ACTIVE PRSENA I Ist Parameter Set Wi DISABLE Proportional solenoid no power HOLD Hold set commands active ACTIVE only Flow control Additional functionalities PRSENA Pressure controller enabled LEK Leakage compensation enabled SLV Pump operates in Slave mode PWRLIM Power limitation enabled ACTIVE PRSENA 1 7 10th Parameter Set bal Figure 40 Local co
58. r monitoring fault reaction and visualization purposes The stroke ring position respectively pressure range corresponds to 4 to 20 mA At 12 mA pin 6 the stroke ring is in centered position zero flow At 20 mA pin 6 the RKP D delivers 100 flow whereas at 4 mA pin 6 the RKP D delivers 100 flow At 4 mA pin 8 the actual pressure corresponds to 0 At 20 mA pin 8 the actual pressure corresponds to 100 The actual value signal outputs allow to detect a cable break when I6 0 mA respectively 18 0 mA R per 500 W 0 25 W p ump Side i Actual value out8 Actual value Die 2tolOV 8j Bi U age CO LUY U o8 ea gS gt 0 Atill20mA 10 GND Figure 9 Circuit diagram for measurement of actual value le stroke ring position and Ig actual pressure as voltage signals 2 10 V 10 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Installation of RKP D 2 3 Connecting a Pressure Sensor In order to allow the use of the pressure control functionality of the RKP D a suitable pressure sensor has to be installed and connected to the RKP D In case of the use of a pressure sequence cartridge the pressure sensor is usually placed behind this cartridge Appropriate pressure sensors are for example HYDAC type HDA or Danfoss type MBS Any other sensor can be used as long as it is appropriate for the application in regards of robustness signal quality and sufficient dynamic
59. respond to an internal actual pressure value of 100 maximum pressure In addition the value measured at the analogue input is offset via Pressure Offset so that O bar in the system correspond to approximately 0 internal actual pressure value Communication Application Controller Interface Diagnosis Store Restore Information Device Control Analogue Input Transducer Device Mode Setpoint Input locally Y 100 0000 Interface No 2 vi g2gs2 Im p Q Type pressure transducer v Actual Value Stroke Ring Position Pressure Baru posite Closed Loop coupcelandval Open Loop Pressure Transducer Analogue Direct Transducer Hold 4 o 0000 A Demand 0 2930 eo Deviation 98 8037 maximum pressure i 0 Bus E Controlword Local Minimum Pressure N yesyo Me einsseid N 0 0000 x 400 d 100 ee EEA ORE SERGE amp sto paaa s Pressure Offset Minimum Signal Maximum Signal NOT READS Enable gt Sea AE rv iaaa E v 0 0793 10 0000 175 0000 Tessure gt Input Lirnit Reference Pressure bar 4 300 FAULT FAULT maximum transducer signal minimium transducer signal Figure 19 Relation between transducer signal Figure 20 Adjustment analogue Input X6 for a pressure transducer and internal actual pressure value Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 21 C
60. riate measures must be taken to ensure that locally different earth potentials do not result in excessive ground currents Moog Technical Note TN353 Command signals and wiring for RKP D with analogue activation Command signals 0 10V floating factory setting e The stroke ring position volumetric flow of the RKP D is proportional U Us at the 11 PE connector X1 The command signal U Us 10V equals 100 flow whereas U Us OV equals zero flow The pressure function controls the pressure measured by an external pressure transducer The pressure is proportional U7 Us at 11 PE pole connector X1 U7 Us 10V equals 100 regulated pressure U7 Us OV results in 0 regulated pressure The absolute size of 0 and 100 pressure depends on the signal range of the assembled pressure transducer respectively the software adjustment of current input Command signals 4 20mA floating software adjustable e The stroke ring position volumetric flow of the RKP D is proportional to l4 at the 11 PE connector X1 e The command signal l4 20 mA equals 100 flow whereas l4 4 mA equals zero flow or l4 12 mA depends from settings The pressure function controls the pressure measured by an external pressure transducer The pressure is proportional to ly at 11 PE pole connector X1 lz 20 mA equals 100 regulated pressure whereas l7 4 mA results in 0 regulated pressure Pin 5 is the co
61. s upload and upload continuous Upload will lead to a single upload of the corresponding data upload continuous will lead to a continuous upload of the same The latter opportunity is limited to a certain number of data fields usually 6 fields depending on the bus load Data cells that are updated on a continuous basis are marked by a black rectangular frame Figure 16 Communication Application Controller Interface Diagnosis Store Restore Information Device Control Main Stage Pressure Power Limitation Analogue Parameter Set Switching Setpoint kiput cay 12 bal Parameter Monitoring pe Control H fs Edit 1st Parameter Set 1 Spool Position Pressure Transducer Closed Loop Interface No 21w Actual Value Filter inn oo Source an val Stroke Ring Position Comer Frequency AO 0000 Feedback Filter Order JE Gain 00000 Froportional Gain P Gain 0 5500 Integrator l Control Range E 0 9949 x FARN Gain 172 1 0000 i shi 1 High Pass Gain oo Controller Output Time Constant 3 0 0000 attributes Differentiator P O utput A338 7500 j __ _ re e Limitation NE Output 462 pood upload lees E a aI D Qutput G0000 fe download Gain decrease OU 0400 Upper Output 100 0000 Time Constante 0 0020 Lower Output 100 0000 Output 3 1614 hv upload continuous i Bees a Lirit 1 Active Set Ramp
62. sssssssseerrererrrreereeessssssees 9 29 Connecting a Pressure Sensor socre a a basal A E A 11 3 COMMISSIONING WITHOUT MOOG VALVE CONFIGURATION SOFTWARE MOVACO naiean 12 3 1 Behavior of the RKP D with default settings ex faCtOry ec ccccessssceeceeeeeeessssseeeeeeeeeens I2 i Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Table of Contents 3 2 Howto use the analog operation mode switching ccc cccccccceesesesssssscsssseeeseeeeeeeeeeeeeeeeeeas 12 4 COMMISSIONING WITH MOOG VALVE CONFIGURATION SOFTWARE MOVACO cccceeeeeees 14 4 1 Set up of the CAN COMMUNICATION 00 0 cc cccsssssncceecceessesessncceccceessessaaeeeeceessessaaeeeeccssensaaeeeeees 14 4 1 1 FROGUIPSITVCINS isaac scsnk Seats snud es oetina vedo saueanctuatsplannonnchenna E I 14 4 1 2 Installation of CAN to USB adapter card cee cccccessscccccceeeesseessseeeeceeeeesssseeeeeees 15 Adz2 Driver vesion VEI cctactercestucienncenceuncrasuenadesdtudlousssboslenedsastesacsseussseuslovcebadensds 15 4 1 2 2 Driver version VCIl3 ssssesesssssssesresssssssreresssssssssreressssssereeesssssseerensssssererssssse 15 4 1 3 Installation of the Moog Valve Configuration Software MOVaCO cccccceeeeees 15 AZ TAOW AO STUN MOV AC Oseiro a E EEE AE aa N 16 4 2 1 Connection to the valve of the pUMPD seessssseerrrsrssssssssssssrrrrrrrsrrrrssssssssseerrrreerrererssssses 16 4 2 2 ONNE MOUE rasa a a E E 17 4 2 3
63. sure Sensors c ccccceeccccseeceeeeceueceueeeceuecaueeceaeesuesecsueceueeesaeessneesseessueeeseeess 8 Front view on the cable external thread Pin contact eee eceec cece eeececeeeeeeeeeeeeeaeeneneeseneeneesees 8 Mate CONMEGION TOr Ao KAO A lae d ote eek outed acne es Sexe Se a E E N N 8 Circuit diagram for measurement of actual value l stroke ring position and lg actual pressure as SE E PE EE E E A A EE A E he E E entices AAE T E A A ees 10 USB0 CAN adaptei cardano a edels etn cadee tal eee art ceeaaala el 14 CAN cable Moog order code TD 3999 137 ccccccccccccesceeceeeecesseeccueeeesauecsasseeceeeesseneeseneesenaess 14 Hardware Test USB to CAN adapter card 2 2 0 0 ccc cccccccccecceneeceeeeeeeceeeeeeeeeeeeeeeeeeeeaeesueeasesseetaneees 15 Start menu adjustment of baud rate and node NUMDEL cc cceccc cece eeeeeeeceeeeeeeeeeeseeeeeeeceeeeaneees 16 Selection between online and offline MOE ccccccccseeccsseeceeeceueeeceesaueecseeceugeesaeessaeesueeessaeenes 16 Description of the software version identical with the name of the corresponding xml files 17 Uploading data for a specific file here continuous upload eecceecceeeeceeeeaeeeeceeeseeeeeaeeeaaeeeaes 18 Displayed information on the control parameters on the right hand part of the MoVaCo HM1 19 Displayed information for status machine ccc ccc ceeccce sees eeeeceeecaeeeseeeseeeesa
64. te Filter Access Direction Storage Area weer ay yin o p l File Filter Figure 48 Browser to store a Log Files 36 Application Instruction RKP D CA58548 001 Version 1 3 05 11 Moog GmbH Commissioning with Moog Valve Configuration Software MoVaCo 4 8 3 Transmission of a log file from an external data storage device Via the menu option File Open Data log the user can download a saved file back to the volatile memory of the valve Figure 49 File Network Trace Data Format Window Help When the online mode is active the parameters save m will be transmitted immediately to the valve after i Application Controller Interface Diagnosis Store Restore Information the file has been opened In offline mode the parameters from the file will be S hown O n th e scree n on ly Store Parameters Restore Parameters Pi Data log application application communication communication manufacturer specific manufacturer specific Figure 49 Download of a log file in the data storage device volatile memory of the valve electronics 4 9 Data Logger The Data Logger is able to display up to four signals at the same time Default settings of the four channels Table 13 Stroke Ring position actual value_ _splval Pressure set point prsdem Pressure actual value prsval Further Signals User Manual Firmware Radial Piston Pumps Pilot Valve set point spide
65. trol mode it is required to equip the system with an external pressure transducer to gather the actual pressure The pressure transducer is to be connected with the X5 or X6 analogue inputs Typically it is connected with the second analogue input connector X6 in accordance with the default setting ex factory Hence the Figure 20 shows an example for pressure transducer adjustment with the 2 external analogue input X6 In contrary to a Moog valve with digital interface an internal pressure transducer Integrated Pressure Transducer is not available for pumps with digital electronics As for the type of sensor it is to select pressure transducer in case a pressure transducer is applied As for Sign the sign of the signal will be selected most commonly used positive As for Nominal Pressure the pressure in bar should be entered which corresponds to 100 internal actual value Till firmware DV001 the relation between the normalized pressure value and the actual physical pressure is used for calculating the leakage compensation and performance limitations It does not play a role in the pressure control itself Up from firmware DV007 and the value of maximum higher the power limitation is PCA StrokeRingPosition PONS 100 P In the example below the signal of a 400 bar pressure transducer 0 10V 3 wire is normalized so that 75 of the signal in this case 7 5 Volt at 300 bar cor
66. ty for possible remaining incorrect or incomplete information and the consequences thereof 1 4 Trademarks Moog and Moog Authentic Repair Service are registered trademarks of Moog Inc and its subsidiaries All product and company names listed in the User Manual are possibly protected trademarks of their respective manufacturer the use of which by third parties for their own purposes may be in violation of the manufacturer s rights A missing or symbol may not be interpreted to mean that the name is a brand name that can be used unrestricted 1 5 Warning Labels DANGER Denotes safety instructions which are meant to warn of an imminent danger of death or serious bodily injury or of significant property damage Non observance of these safety instructions will inevitably lead to death serious injuries crippling injuries or significant damage to property WARNING Denotes safety instructions which are meant to warn of possible danger of death or serious bodily injury or of possible significant property damage Non observance of these safety instructions may lead to death serious injuries crippling injuries or significant damage gt to property CAUTION Denotes safety instructions which are meant to warn of the risk of slight injuries or minor property damage 1 Non observance of these safety instructions may lead to slight injuries or minor damage to property Moog GmbH Application Instruction RKP D CA58548 00
67. ue operation mode switching function should be deactivated by going to Controller Analogue Parameter Set Switching and setting the control mode move bar to off Communication Application Controller Interface Diagnosis Store A Restore Information Main Stage Pressure Power Limitation Analogue Parameter Set Switching Parameter Monitoring Edi t Ist Parameter Set ee Proportional Gain Transducer Interface Ho ciwi Actual Yalue Filter Stroke Ring Position Comer Frequency 50 0000 Feedback Filter Cider a 3 Gain PGain 8500 Integrator Control Range 0 9949 High Pass Gain 0 0000 Gain 17s 1 0000 0 0000 Controller Output P Chutput 13387500 Time Constant s Differentiator ne age Output 763 0000 Gat nies a D035 Negative Flow l 100 0000 Peukut aU Gan decrease 0 0400 Upper Output Time Constants 0 0020 Lower Output 100 0000 Output 51614 Active Set sa 1 Figure 28 Selection of parameter set for pressure control Firmware DV007 and DV010 By default the signal of the pressure sensor is filtered by cut off frequency 50 Hz and 3 order With Firmware DVO07 or higher it is possible to set the filter of actual pressure value manually Moog GmbH Application Instruction RKP D CA58548 001 Version 1 3 05 11 25 Commissioning with Moog Valve Configuration Software MoVaCo 4 3 3 1 Individual adjustm

Radial piston Pump RKP-D Application Instruction

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