Digital position Z-ME-KZ controllers
Contents
1. Position D Position control A Speed profile generated y B 2 a oy e A Speed profile generated r A Force Position control A Speed profile generated i A Force L Hydraulic steering wheel in marine applications Rudder controls on motor yachts and sail boats requires smooth control for precise and reliable operations Z ME KZ controllers perform the rudder position control system ensuring accurate and repetitive regulations for a comfortable ride thanks to analog position reference mode for real time controls potentiometer position transducer for simple and compact solution position PID control parameters to optimize the system response complete diagnostic information for advanced system monitoring Wind turbines The pitch control of the rotor blades is required to maximize the energy pro duction Accurate positioning decentralized intelligence as well as long ser vice life and reliability are required Z ME KZ controllers perform high quality regulation of the blade pitch simplifying the system architecture thanks to SSI digital position transducer for high precision control complete remote system management with2. P option the PROFIBUS DP port is located on the front panel of the Z ME KZ controller For BC option the CANopen connection is located on the rear connector of the Z ME KZ controller Through the fieldbus communication only the real time parameters may be exchanged position velocity and force pressure reference position velocity and force pressure feedback controller commands and status diagnostic error messages 10 ELECTRONIC CONNECTIONS 64 PIN REAR CONNECTOR For more information about the front panel settings and fieldbus communication please refer to the controller user manual rear view pin f d b Zz 2 DO7 0 DI 1 I F_TR2 I ne 4 SSI clock D DI2 I F_TR2 I ne 6 SSI clock D DI3 I F_INPUT I nc 8 SSI data Inc Uat D DI 4 I F_INPUT I ne 10 SSI data Inc Ua1 D DI 5 I P_INPUT I ne 12 Inc Ua2 D DI6 I P_INPUT I ne 14 nc Ua2 D DI7 I F_TR1 I ne 16 Inc Uad D DI 8 I F_TR1 I ne 18 ne Ua0 D ENABLE I P_TR I ne 20 Inc 5Voc 0 DO 1 0 P_TR a GND 22 ne FAULT 0 VALVE_MONITOR I DO3 0 24 ne ne VALVE_MONITOR I DO 4 0 26 ne DO 2 0 P_MONITOR O DO5 0 28 CAN_GND F ne AGND DO6 0 30 CAN_L F CONTROL_OUTPUT O VREF 10Voc O V PS 32 CAN_H F F_MONITOR O VREF 10Voc O vo PS I In
3. see 11 15 13 8 Motion phases parameters When the internal reference generation is active a pre programmed cycle can be generated start stop switch over commands and reference generation types parameters can be set to design a customized sequence of motion phases adapted to the specific application requirements see 3 2 G340 14 WIRING BLOCK EXAMPLES 14 1 Position control external analog reference potentiometer actuator transducer POWER SUPPLY 24VDC ANALOG POSITION REFERENCE ON 24Voc OFF 0VDC DI 1 DI 2 DI 3 ANALOG POSITION MONITOR DIGITAL FAULT ON 24Vpc OFF 0VDC DIGITAL ENABLE O Rear side connections z30 d30 p gt __ VALVE REF 2 z32 atos b22 aq VAE MONITOR 4 b10 b24 VALVE MONITOR b12 d18 b32 p REF 10Voc b30 p VREF 10Voc 7 Fy RY SS y 22 b18 q PTR d4 b20 pm td Hi 0 0 7 d6 b28 A 6 AGND b26 d20 DO1 b28 aan e e d22 d26 Bo Vv e E a Z ME KZ F Z ME KZ PS 1 For the valve driver electrical connection please refer to the specific technical table 2 For the potentiometer position transducer connection please refer to transducer datasheet 3 For the analog position transducer connection please refer to transducer datasheet 14 2 Alternated position force control external reference SSI actuator transducer 2 pressure transduc
4. 10V 4 20 mA Serial SSI binary gray TTL 5Vpp 150 KHZ 10 Voc 4 20 mA ax speed 0 5 m s 1 m s 2 m s 2 m s ax Resolution lt 0 4 FS lt 0 2 FS 1 um 1 um 0 15 m s lt 04 FS Linearity error 2 0 1 FS lt 0 03 FS lt 0 01 FS lt 0 001 FS lt 0 25 FS Repeatability 2 0 05 FS lt 0 005 FS lt 0 001 FS lt 0 001 FS lt 0 1 FS Notes 1 power supply provided by digital controller 2 percentage of total stroke 8 FRONT PANEL DESCRIPTION 8 1 Keyboard and display On the Z ME KZ front panel are available 4 function keys ESC ENT UP DWN and a numeric display 4 digits plus sign to allow the user to view and change the controller s parameters as well as to display diagnostic messages The following parameters can be accessed viewed or changed via correspon ding menu structure command and actual values analog input output values digital input output status position sensor indication force pressure sensor indication Parameter s changes of the configuration control gains trigger conditions inter nal cycle fault monitoring are not allowed via front panel operations 8 2 LED indication The led indications are used to display the internal status Active OK of the con troller or the status of the digital IO of the Z ME KZ There are 22 led divided in four different types internal controller s status Active OK digital input status 11
5. 20 mA for current default setting is O 10 Voc Refer to position transducer characteristics to select the transducer type that maches the specific application requirements see 7 1 11 5 Force pressure transducer input signal F_TR1 F_TR1 F_TR2 F_TR2 Analog remote pressure transducers or load cell with maximum 10 Voc signal range must be directly connected to the controller in case of alternated postion force or position pressure control Refer to pressure force transducer characteristics to select the transducer type that mach the specific application requirements see 7 2 The input range and polarity are software selectable within the maximum range 10 Voc for voltage or O 20 mA for current default setting is O 10 Voc 11 6 Analog valve monitor input signal VALVE_MONITOR VALVE_MONITOR The controller allows to monitor the regulation of the proportional valve which operates the hydraulic flow to the actuator VALVE_MON VALVE_MON The analog input is a differential input type The input range and polarity are software selectable within the maximum range 10 Voc for voltage or O 20 mA for current default setting is O 10 Voc 11 7 Control output signal CONTROL_OUTPUT The error signal processed by the control algorithms generates the control output signal CONTROL_OUTPUT for the external driver of the proportional valve which operates the hydraulic flow to the actuator The output range and polarity are sof
6. central unit by means of the analog input see section 10 limiting speed acceleration and dece leration values Fieldbus reference b The controller receives in real time the reference signal from the machine electronic central unit by means of the digital fieldbus communication BC and BP executions limiting speed acceleration and deceleration values For fieldbus communication details please refer to the controller user manual see section 12 3 2 Internal reference generation Z ME KZ controller regulates in closed loop the actuator position according to an internally generated reference position signal and to the position feedback from the actuator tran sducer It generates a reference signal for the proportional valve which regulates the hydraulic flow to the actuator The internal reference signal is generated by a pre programmed cycle only start stop and switch over commands are required from the machine electronic central unit by means of on off commands c fieldbus commands d External reference generation Machine O Bg Analog a or Fieldbus b reference central unit Q g Valve command li and monitor We i position Internal reference generation On off c or Fieldbus d commands Machine O central unit
7. hydraulic axis mode referencing mode jog mode automatic mode jog command disable pressure force alternated control 11 15 Digital output signals DO1 DO7 The 7 digital outputs can be used to generate digital signals useful to the system synchronization and for monitoring purpose The digital outputs can be configured in polarity and all the channels can be independently programmed by the Z SW software Typically the digital outputs are used to set alarm condition related with the hydraulic axis working phase identify a particular working condition to synchronize other machine functionalities signal target position reached signal pressure force control active signal tracking error 11 16 CANopen communication signals only for BC option For controllers with CANopen communication interface the connections are located on the rear connector pin f28 CAN_GND pin f80 CAN_L and pin 32 CAN_H 12 PROGRAMMING TOOLS see tech table GS500 Valve s functional parameters and configurations can be easily set and optimized using Atos Z SW programming software connected via serial communication port to the digital controller Z SW software is available in different versions according to the controllers s communication interface PS Serial Z SW PS BC CANopen Z SW BC and BP PROFIBUS DP Z SW BP For fieldbus versions Z SW software permits valve s parameterization through serial communication port also if th
8. 18 digital output status O1 O7 software programmable led A1 A5 for specific functions 8 3 Test points The test points present on the controller front panel can be used to monitor the actual position X1 and the force pressure X2 value measured by the relevant transducers Both signals are referred to the analog ground L pin The two signals are respectively connected to PIMONITOR X1 and FLMONITOR X2 analog output present on the rear connector of the controller card These signals can be software set to show other signals available in the controller see 11 8 and 11 9 8 4 Communication ports 9 FRONT PANEL VIEW Function Keys Display OK Led Active Led Digital Input Led E Digital Output Led E Auxiliary Led 2 Test Points O pam O 28 e2 RS232 serial programming port i o2 29 PROFIBUS DP port sacl PROFIBUS Z ME KZ only for BP option On the front panel of the Z ME KZ is always present a serial RS232 port to program the controller by the Atos Z SW software see section 12 All the functional parameters of digital controller like internal reference generation controller dynamics IO configurations can be easily set and optimized by the user For BP or BC options a second communication port dedicated to the selected fieldbus connection is present on the controller For B
9. MC directive Software Features e Internal generation of motion cycle e Setting of axis s dynamic response PID to optimize the application performances e Software selectable range of electronic reference analog inputs voltage or current e Enhanced diagnostics of the axis status e Intuitive graphic interface e ln field firmware update through standard serial communication e Internal oscilloscope function Z SW PS SOFTWARE E FIELDBUS NETWORK MACHINE CENTRAL UNIT ooo fog g a 2 ao Q w w GENERATOR DIGITAL CONTROLLER Z ME KZ SERIAL PORT 20000 000 SETPOINT POSITION CONTROL pe PID ___ EXT FORCE CONTROL MONITOR PID DIGITAL I O ay FORCE PRESSURE FEEDBACK POSITION FEEDBACK Note Block diagram example for alternated position force control with fieldbus interface PROPORTIONAL VALVE HYDRAULIC ACTUATOR G340 3 POSITION REFERENCE MODE 3 1 External reference generation Z ME KZ controller regulates in closed loop the actuator position according to an external reference position signal and to the position feedback from the actuator transducer It generates a reference signal for the proportional valve which regulates the hydraulic flow to the actuator The external reference signal can be software selected among Analog reference a The controller receives in real time the reference signal from the machine electronic
10. O noo nog 200 Valve command and monitor me Speed profile generated a a o M switch over points Atos PC software allows to design a customized sequence of motion phases adapted to the specific application requirements a range of predefined standard sequences are available in the Z SW software Start stop switch over commands and reference generation type can be set for each phase in order to realize an automatic cycle according to the appli cation requests Refer to the controller user manual for further details on the available selection of start stop switch over commands and reference gene ration type Start stop switch over commands examples External digital input External fieldbus input Switch by position Switch by time Switch by internal status Internal reference generation types examples on off commands on rear connector are used to start stop the cycle generation or to change the motion phase on off commands by fieldbus communication are used to start stop the cycle generation or to change the motion phase switch over from actual to following motion phase occurs when the actual position reaches a programmed value switch over from actual to following motion phase occurs after a fixed time starting from the actual phase activation switch over from int
11. P can be software set to receive reference value directly by the machine electronic control unit fieldbus master in this case the analog reference input signal can be used for start up and maintenance operations 11 3 Pressure or force reference input signals F_INPUT F_INPUT For alternated position force or position pressure control the Z ME KZ receives a second analog voltage or current reference input signal F_INPUT F_INPUT dedicated to the force or pressure closed loop control see section 4 The analog input is a differential input type The input range and polarity are software selectable within the maximum range 10 Voc for voltage or O 20 mA for current default setting is O 10 Voc Controller with fieldbus interface BC or BP can be software set to receive reference value directly by the machine electronic control unit fieldbus master in this case the analog reference input signals can be used for start up and maintenance operations 11 4 Position transducer input signal A position transducer must be always directly connected to the controller digital SSI SSI clock SSI clock SSI data SSldata digital Encoder Inc Ua Inc Uat Inc Ua2 Inc Ua2 lnc Uad Inc Ua0 potentiometer or a generic transducer with analog interface P_TR P_TR can be used For transducers with analog interface the input range and polarity are software selectable within the maximum range 10 Voc for voltage or 0
12. SOS LA unnos Digital position Z ME KZ controllers Eurocard format for electrohydraulic closed loop controls MAIN FUNCTIONS AND FEATURES USER INTERFACE SUPPLY 24V H gt POSITION REFERENCE FORCE REFERENCE o Co 00000 5 mT 0999 POSITION FEEDBACK T Position Real time Serial port a zZ control fieldbus FORCE FEEDBACK P Q __ AUXILIARY INPUT _l Alternated Internal Enhanced 7 DRIVER S COMMAND y control reference diagnostic E MONITOR a 5 a AUXILIARY OUTPUT fo gt Z ME KZ atoas A Ss x a Ss Z SW PS _zswes pe programming software 1 MODEL CODE Z ME KZ PS SP OF ie x Electronic axis controller in Eurocard format Set code Alternated position force or position pressure control module Serial communication interface for configuration and monitoring function Series number Optional fieldbus interfaces standard without fieldbus interface BC CANopen communication interface BP PROFIBUS DP communication interface 2 BLOCK DIAGRAM Table G340 7 E Z ME KZ Digital axis controllers perform the position closed loop of linear or rotative hydraulic axes The controller receives a position feedback from the
13. axis transducer and it generates a reference signal to the proportional valve which regulates the hydraulic flow to the actuator The position feedback interfaces are SSI incremental encoder potentiometer or stan dard analog inputs voltage or current software selectable A front panel serial port is always present for configuration and monitoring of the controller The controller can be operated in real time by external or internally generated reference signal With external reference signal the actuator s motion cycle can be managed by either ana log or fieldbus reference input With internally generated reference signal the actuator s motion cycle can be managed by external or fieldbus on off commands A pressure force alternated control may be set by software additionally to the position control a pressure force transducer has to be assembled into the actuator and connec ted to the controller a second reference pressure force signal is required Several auxiliary digital inputs outputs are available and they can be used to synchroni ze other machine functions and to transmit information on the controller state Electrical Features e 4 digits front panel display to check and change parameters as well as for diagno stics e Front panel DB9 connector for serial pro gramming interface e Front panel test points for debug and maintenance e Eurocard format DIN 41494 Plug in units e CE mark according to E
14. d for the proportional valve which regulates the hydraulic flow to the actuator Scaling parameters define the correspondence of the command signal to the specific valve reference signal range Limit parameters define maximum minimum range to detect possible alarm conditions 13 5 Monitoring parameters Allow to configure the controller monitoring function of the positioning error difference between actual reference and feedback and detects anomalous conditions Monitoring parameters maximum allowed errors can be set for both static and dynamic positioning phases and dedicated waiting times can be set to delay the activation of the alarm condition and relevant reaction see 13 6 13 6 Fault parameters Allow to configure how the controller detect and react to alarm conditions Diagnostics parameters define different conditions threshold and delay time to detect alarm conditions Reaction parameters define different actions to be performed in case of alarm presence stop at actual or preprogrammed position emergency forward backward controller disabling etc 13 7 Digital IO configuration Allow to configure the controller s digital inputs outputs to trigger generate signals from for the external machine central unit Polarity define the signal active state Trigger condition define the input state to run a predefined internal command see 11 14 Output state define the digital output based on the internal controller state
15. e controller is connected to the central machi ne unit via fieldbus Full programming software to be ordered separately Z SW DVD first supply software has to be activated via web registration at www download atos com 1 year service included Upon web registration user receive via email the Activation Code software license and login data to access personal Atos Download Area The software remains active for 10 days from the installation date and then it stops until the user inputs the Activation Code Z SW N DVD next supplies only for supplies after the first service not included web registration not allowed Software has to be activated with Activation Code received upon first supply web registration Atos Download Area direct access to latest releases of Z SW software manuals USB drivers and fieldbus configuration files at www download atos com USB Adapters Cables and Terminators can be ordered separately 13 MAIN SOFTWARE PARAMETER SETTINGS For a detailed descriptions of the available settings wirings and installation procedures please refer to the user manuals included in the Z SW DVD programming software Z MAN ME KZ user manual for Z ME KZ 13 1 External reference and transducer parameters Allow to configure the controller reference and transducer inputs analog or digital to match the specific application requirements Scaling parameters define the correspondence of these signals
16. ernal status are used to start stop the cycle generation or to change the motion phase a target position reference signal is internally generated for each motion phase maximum speed acceleration and Absolute deceleration can be set to obtain a smooth and precise position control Relative as Absolute but the target position corresponds to the actuator position plus a fixed quote internally set by software Hold the controller holds the actual position 4 POSITION PRESSURE OR FORCE CONTROL Alternated pressure or force control can be added to the actuator s standard position con rol see below functional schemes Remote transducers pressure or force have to be installed on the actuator The position pressure or position force controls are operated according to two separate reference signals and a dedicated algorithm automatically selects which control is active ime by time The dynamics of the switching between the two controls can be regulated thanks to speci ic software setting in order to avoid instability and vibrations Position control is active see phase and at side when the actuator actual pressure or force is lower than the relevant reference signal Pressure or force control is active see phase and at side when the actuator actual pressure or force measured by remote transducers grows up to the relevant reference signal the controller reduces the valve s regulation in order to
17. ers CANopen POWER SUPPLY 24VDC 2 ANALOG POSITION REFERENCE 2 ANALOG FORCE REFERENCE DIGITAL ENABLE ON 24Voc OFF 0VDC ANALOG POSITION MONITOR ANALOG FORCE MONITOR DIGITAL FAULT ON 24Voc OFF 0VDC AGND Rear side connections z30 d30 p gt _VALVE REF 232 WOSA b22 aq VALVE MONITOR b10 b24 VALVE MONITOR b12 b14 a PRESSURE 1 b6 b16 3 6 ben Oe PRESSURE 1 b8 o So b2 q__ PRESSURE 2 64 506 7 o b4 7 Sok d18 i5 PRESSURE 2 S86 p SSI CLOCK p SSI CLOCK f8 lt g__SSIDATAt f10 a SOA 32 CAN_H 30 CANL Co 7 Z ME KZ core b28 T28 CAN_GND fieldbus Ww CANopen Z ME KZ PS BC INTERFACE 3 1 afl ro UL el b14 q PRESSURE 1 as BT b16 b28 acno VW 5 fei 1 For the valve driver electrical connection please refer to the specific technical table 2 Only for start up and maintenance operations 3 CANopen fieldbus interface on rear connector 4 For the SS transducer datasheet position transducer connection please refer to 5 Pressure transducer connection with current signal output 14 3 Alternated position force control internal reference ge
18. fieldbus interface position PID selection to adapt the position control to the different wind conditions Wood machinery Hydraulic wood machines require configurable and repetitive motion profiles accurate position controls and digital signals for synchronization purpose Z ME KZ controllers allow remote control thanks to internal reference generation with maximum speed and acceleration settings analog position transducer for simple and reliable solution pressure transducer for alternated pressure control fieldbus connection for remote parameterization commands and controller state indication Bending Machines Machine tools for cold forming flat sheets require complete automatic programmable and flexible machine control to produce sheet metal panels from punched blank Z ME KZ controller combine high level position regulation with accurate force control to provide in a single device a complete and dedicated solution thanks to internal reference generation to simplify the machine control cycle digital position sensor for high resolution measurement system two pressure transducers for alternated force control fieldbus interface for easy machine control integration auxiliary digital outputs for system status indication target reached force control active Die casting machinery Clamp movements in die casting phases involve fast slow motion cycle with accurate and repetitive alternated position f
19. limit the actuator pressure or force if the pressure or force tends to decrease under its reference signal the position control returns active forward force backward force movement control movement control CEHE CRE CEE Cea Speed profile generated reference value force actual value Alternated Position Pressure Control Alternated Position Force Control Load cell Alternated Position Force Control Two pres sure transducers LA aos m e g jae m l 7 l te Z ME KZ im fi em one remote pressure transducer has to be installed on the actuator s port to be controlled one load cell transducer has to be installed between the actuator and the controlled load two remote pressure transducers have to be installed on the actuator s ports the actuator force is calculated by the pressure feedbacks Pa Pb T valve s spool transducer M actuator s position transducer P pressure transducer L load cell 5 APPLICATION EXAMPLES Position control Li 222022 PX SE eh Position F Position control
20. neration encoder actuator transducer load cell PROFIBUS DP POWER SUPPLY 24VDC 2 ANALOG POSITION REFERENCE ANALOG FORCE REFERENCE 2 DIGITAL ENABLE ON 24Voc OFF 0VDC ANALOG POSITION MONITOR ANALOG FORCE MONITOR DIGITAL FAULT ON 24Voc OFF 0VDC AGND Rear side connections 1 f J ami i Cd EXTERNAL D H ENCODER f BO H o z30 d30 VALVE REF _ Z32 atos b22 aq VAVE MONITOR b10 b24 VALVE MONITOR b12 b14 aq FORCE 1 b6 b16 FORCE 1 f8 a Mun f10 a Mm f12 a Mu f14 a MOm f16 a MU f18 a MOM NE f20 p NC 5vpc z20 GND Z ME KZ PS BP 1 For the valve driver electrical connection please refer to the specific technical table 2 Only for start up and maintenance operations 3 PROFIBUS DP fieldbus interface on front panel 4 For the encoder position transducer connection please refer to transducer datasheet 12 14
21. oc no fault state gt power supply 2 V fault state lt 1V max 50 mA Analog reference outputs 10 Voc max 30 mA Inceremental encoder power supply 5 Voc max 100 mA Alarms Position transducer out of range an alog input out of range Card format Eurocard 100x160 mm Plug in unit DIN 41494 Card rear connector Male DIN EN 60603 G Available frame snap connector type E K 64M see tech table G800 To be ordered separately Operating temperature 0 50 C storage 20 70 C Front panel dimensions 128 4 x 40 mm Communication interface Atos ASCII coding EN50325 4 DS408 Mass Approx 250 g Electromagnetic compatibility EMC According to Directive 2004 108 CE Immunity EN 50082 2 Emission EN 50081 2 Serial CANopen PROFIBUS EN50170 2 IEC61158 Communication physical layer not insulated serial RS232 optical insulated CAN ISO11898 RS485 optical insulated 7 1 Position transducers 7 TRANSDUCER CHARACTERISTICS Note 1 external negative voltage not allowed e g due to inductive loads The accuracy of the position control is strongly dependent to the selected position transducer Four different transducer interfaces are available on the controller depending to the system requirements potentiometer analog signal SSI and encoder see 7 3 Transducers with digital interface SSI and encoder allow the use
22. orce controls for the mould safety functions Z ME KZ controllers with alternated position force control simplify the hydraulic electronic system architecture thanks to internal reference generation for repetitive working cycles SSI digital position transducer for accurate axis control two pressure transducers for alternated force control auxiliary digital inputs output to synchronize the machine functions fieldbus connection for machine remote control and advanced diagnostics G340 6 MAIN CHARACTERISTICS Power supply see 11 1 Nominal 24 Voc Rectified and filtered Vams 20 32 Vmax ripple max 10 VPP Max power consumption 10 W Position transducer SSI incremental encoder potentiometer analog Analsclapiit Input range voltage 10 Voc input impedance Ri gt 100 kQ nated NPUtS current 0 20mA __ inputimpedance Ri lt 500 Q Output range voltage 10 Voc max 10 mA Analog Outputs current 0 20 mA max 500 Q load resistance Digital Inputs Input range Ri gt 10 kQ 0 5 Voc OFF state 16 24 Voc ON state 5 16 Voc not accepted Input impedance Digital Outputs 1 Output range 0 24 Voc ON state gt power supply 2 V OFF state lt 1V max 30 mA Enable input Range 0 5 Voc OFF state 16 24 Voc ON state 5 16 Voc not accepted Input impedance Ri gt 10 KQ Fault output 1 Output range O 24 V
23. put O Output D Digital transducers PS Power supply F Fieldbus interface only for BC option G340 11 SIGNAL SPECIFICATIONS Atos digital controllers are CE marked according to the applicable directives e g Immunity Emission EMC Directive nstallation wirings and start up procedures must be performed according to the prescriptions shown in tech table F003 and in the user manuals inclu ded in the Z SW programming software The electrical signals of the controller e g monitor signals must not be directly used to activate safety functions like to switch ON OFF the machine s safety components as prescribed by the European standards 11 1 Power supply V and V0 The power supply must be appropriately stabilized or rectified and filtered apply at least a 10000 uF 40 V capacitance to single phase rectifiers or a 4700 uF 40 V capacitance to three phase rectifiers The controller is protected against overloads by a internal safety fuse 3 15 A fuse 11 2 Position reference input signal P_INPUT P_INPUT The controller allows to regulate the axis position in closed loop according to an external voltage or current reference input signal P_LINPUT and P_INPUT see 3 1 The analog input is a differential input type The input range and polarity are software selectable within the maximum range 10 Voc for voltage or O 20 mA for current default setting is O 10 Voc Controller with fieldbus interface BC or B
24. r to ge potentiometer and analog signal grant simple and cost effective solutions 7 2 Pressure force transducers The accuracy of the pressure force controls is strongly dependent to the se controls require to install pressure transducers or load cell Pressure transducers allow easy system integration and cost effective solu table G465 for pressure transducers details Load cel position force controls The characteristics of 7 3 Transducers characteristics amp interfaces following values are just transducers al 115 120 of he remote pressure force transducers must be always selected to match t performances transducer nominal range should be at leas or reference for details p ected pressure force transducers see section 4 o measure the actual pressure force values ion for both alternated position pressure and posi ow the user to get high accuracy and precise regulations for alternated high resolution and accurate measures Transducers with analog interface Alternated pressure force ion force controls see tech he application requirements and to obtain the best he maximum regulated pressure force ease consult the transducer s datasheet Position Pressure Force nput type Potentiometer Analog SSI Incremental Encoder Analog Power supply 1 10 Voc 24 Voc 5 Voc 24 Voc 5 Voc 24 Voc 24 Voc Controller Interface 10V 0
25. troller can be software set to perform one of the following actions move forward or backward in open loop default setting move forward and maintain in closed loop a predefined actuator s position hold position maintain the actuator actual position in close loop control disable the controller functioning control output set to zero 11 11 Fault output signal FAULT Fault output signal indicates fault conditions of the controller alarm active reference or transducer signal cable broken max error exceeded etc Fault presence corresponds to 0 Voc normal working corresponds to 24 Voc pin d22 referred to pin b28 11 12 Power supply signal for potentiometer position transducer VREF 10Vpc VREF 10Vpc Power supply for potentiometer position transducer may be generated from the controller card using the VREF 10Voc and VREF 10Vpc signal max 30 mA 11 13 Power supply for incremental encoder position transducer Inc 5Vpc GND Power supply for incremental encoder position transducer may be generated from the controller card using the 5Voc max 100 mA 11 14 Digital input signals DI1 DI8 The 8 digital inputs can be used to trigger a command or to read a system state For each input by the Z SW software it is possible to set the polarity and to match a proper condition within the following start stop switch over command in case of internal reference generation see 3 2 specific operative command for
26. tware selectable within 10 Voc for voltage or O 20 mA for current maximum range referred to the analog ground AGND default setting is 10 Voc 11 8 Position monitor output signal P_MONITOR The controller generates an analog voltage output signal proportional to the actual axis position the monitor output signal can be software set to show other signals available in the controller e g analog reference fieldbus reference position error valve spool position The output polarity is software selectable within 10 Voc maximum range referred to the analog ground AGND default setting is 10 Voc The P_MONITOR signal is also present on the front panel at test point X1 11 9 Pressure or force monitor output signal F_MONITOR For alternated position force or position pressure control the Z ME KZ generates an analog voltage output signal proportional to the actual pressure or force applied to the actuator end the monitor output signals can be software set to show other signals available in the controller e g analog reference force reference The output polarity is software selectable within 10 Voc maximum range referred to the analog ground AGND default setting is 10 Voc The F_MONITOR signal is also present on the front panel at test point X2 11 10 Enable Input Signal ENABLE To enable the controller a 24Vpc voltage has to be applied on pin d18 referred to pin b28 When the Enable signal is set to zero the con
27. with the specific actuator stroke or force to be controlled Limit parameters define maximum minimum stroke and force to detect possible alarm conditions Homing parameters define the startup procedure to initialize incremental transducer e g encoder 13 2 Position PID control dynamics parameters Allow to optimize and adapt the position controller closed loop to the wide range of hydraulic system characteristics PID position each part of the position controller closed loop algorithm proportional fine positioning advanced integral derivative feed forward etc can be modified in order to match the application requirements 13 3 Multiple pressure force PID control dynamics parameters Allow to optimize and adapt the pressure force controller closed loop to the wide range of hydraulic system characteristics PID pressure force each part of the pressure force controller closed loop algorithm proportional integral derivative feed forward etc can be modified in order to match the application requirements Through Atos software or using dedicated digital inputs it is possible to select up to four different pressure force PID parameters setting stored into the controller Switching the active setting of pressure force PID during the machine cycle allows to optimize the system dynamic response in different hydraulic working conditions volume flow etc 13 4 Control output signal parameters Allow to configure the controller comman
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