Radial Piston Pump with Digital Control RKP-D
Contents
1. 34 F F 32 x 0 5556 C C 0 5556 32 F 18 C 32 F 38 C 212 F Mass Moment of Inertia lkgcm 0 3417 lb in llbin 2 9264 kg cm lkgcm 8 85 10 lbf in s l lbf in s 1 130 kg cm Kinematic Viscosity l mm s l cSt Note All dimensions in the catalog are in mm unless otherwise specified Calculation of Power Consumption e 6xnm P kW p bar Q l min n Example RKP 63 cm rev 280 bar 1 450 min p 280 bar Q 63x 1 450 91 3 l min n 7 95 96 P 280 x 91 3 kW 6 x 95 P 45kW Calculation of Drive Torque 1 59 x Vxp n M Nm V cm rev p bar n Example RKP 63 cm rev 280 bar V 63 cm rev p 280 bar n 95 M 1 59 x 63 x 280 Nm 95 M 295 Nm BACKGROUND Moog Radial Piston Pump with Digital Control RKP D ABOUT MOOG Moog Inc is aworldwide designer manufacturer and integrator of precision control components and systems Moog s Industrial Group designs and manufactures high performance motion control solutions combining electric hydraulic and hybrid technologies with expert consultative support in a range of applications including energy production and generation machinery industrial production machinery and simulation and test equipment We help performance driven companies design and develop their next generation machines Moog Industrial Group with fiscal year 2013 sales of USD 592 million and over 40 locations worldw2. E eee ee coss vo Digital OBE gt 25 bar i gt 363 psi peewee EEEN EEEE Position Transducer TECHNICA DATA Iano Radial Dietan Piima with Nicital Cantral BKD_D TECHNICAL DATA Moog Radial Piston Pump with Digital Control RKP D CONFIGURATION SOFTWARE The Windows based Moog Valve and Pump Configuration Software enables fast and convenient commissioning diagnostics and configuration of the RKP D The software communicates with the RKP D via the CANopen or local CAN fieldbus This requires a PC installed CAN interface card to allow data to be exchanged between the PC and the RKP D and for RKP D settings to be recorded onthe PC The RKP D configuration ts controlled via graphic control elements Status information set values and actual values as well as characteristic curves are displayed graphically The operational behavior of the RKP D can be visualized and recorded via an integrated oscilloscope data logger Moog Valve and Pump Configuration Software System Requirements The configuration software can be installed on a PC with the following minimum requirements e BM PC compatible e Windows XP 7 8 e 1 GB RAM e 1 GB free hard disk space e Monitor resolution 1024 x 768 pixels e Keyboard mouse Moog Valve and Pump Configuration Software connected The software is available free of charge from Moog with the RKP D via IXXAT interface card and CAN cable Please visit
3. Example CS T p T RIP E e m Tr P m P e Drive Radial Piston Pump MODEL CODE 1 Not with RKP D Radial Piston Pump Code Hydraulic Pump ATEX Certified for Potentially Hazardous Environments Pump with special features Rotations Clockwise looking at drive shaft Counterclockwise looking at drive shaft Speed Maximum speed for low noise operation or rated speed for power controlled pumps e g 18 gt n 1 800 min Drive flange Straight key according to DIN 6885 metric round flange not for RKP 140 and RKP 250 Spline according to DIN 5482 metric round flange not for RKP 140 and RKP 250 Straight key according to DIN 6885 4 holes ISO flange according to ISO 3019 2 metric Spline according to DIN 5480 4 holes ISO flange according to ISO 3019 2 metric Straight key according to SAE 744 C 2 4 holes SAE flange according to ISO 3019 1 inch Spline according to SAE 744 C ISO 3019 1 2 4 holes SAE flange according to ISO 3019 1 inch Straight key according to DIN 6885 metric round flange for polyurethane foam Straight key according to SAE 744 C 2 4 holes SAE flange according to ISO 3019 1 inch for polyurethane foam Intermediate flange RKP RKP Pump type Radial piston pump variable displacement Moog gear pump with SAE A and SAE B flange Attachment of other pumps Heavy duty through drive for RKP attachment and adapter flange for SAE A SAE Bor SAE C Displacement RKP cm rev cm rev cm rev cm r
4. whereas l 4 mA equals 0 96 displacement or 12 mA depends from settings The pressure function controls the pressure measured by an external pressure transducer The pressure is proportional to at L1 PE pole connector X1 l 20 mA equals 100 6 regulated pressure whereas I 4 mA results in 0 regulated pressure Pin 5 is the common return wire for and L which means l I l do notresult in excessive ground currents 5ee also Moog Technical Note TN353 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 Output actual value 2 to 10 V to GND Note Type of signal is fixed and not switchable via software for CAN version only 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 pressurerange 0 to 100 96 and the displacement rate 100 to 100 96 correspond to the output signal range of 2 to 10 V At 6 V pin 6 the stroke ring is in its centered position and the RKP D delivers 0 96 flow at 10 V pin 6 the RKP D delivers 100 96 flow at 2 V pin 6 the RKP D delivers 100 96 flow At 2 V pin 8 the actual pressure corresponds to 0 96 at 10 V pin 8 the actual pressure corresponds to 100 The actual output signal allows to detect a cabl
5. 000 operating hours or 24 months DESCRIPTION RADIAL PISTON PUMP WITH DIGITAL CONTROL General Description of RKP D The RKP D is an electro hydraulically controlled Radial Piston Pump that has a closed loop servo pilot valve with digital on board electronics used for control of displacement and pressure The valve electronics contain a microprocessor system that executes all essential functions All control loops are processed by the software including Position control of the pilot valve e Position control of the stroke ring displacement control Pressure control The high performance and flexible control concept of this RKP D offers broad functionality making this an ideal solution for hydraulic systems with demanding requirements for flow and pressure control Mode of Operation The shaft 5 transfers the drive torque to the star shaped cylinder block 3 free of any transverse forces via a crossdisc coupling 4 The cylinder block is supported on the control journal 1 The radial pistons 9 in the cylinder block run against the stroke ring 7 through hydrostatically balanced slipper pads 8 Piston and slipper pads are joined by ball and socket joints which is locked by aring The slipper pads are guided in the stroke ring by two retaining rings 2 and when running are held against the stroke ring by centrifugal force and oil pressure As the cylinder block rotates the pistons perform areciprocating motion due t
6. Transducer RKP D with Internal Pressure Supply and Sequence Mainfold In cases where the system pressure cannot be maintained continuously above 14 bar 200 psi e g with low friction cylinders moving at zero load it is necessary to apply a pressure sequence manifold which is available as accessory The built in pressure sequence cartridge maintains the minimum required pilot pressure of 14 bar 200 psi in case the system pressure falls below this value The sequence cartridge does not have an impact on energy consumption due to its special design which avoids any functional pressure drop above a static pressure level of 20 bar 290 psi Additionally the sequence cartridge allows a decrease of the system pressure down to O bar 0 psi The sequence manifold is mounted directly on the outlet of the RKP D and contains additional functions as follows e limitation safety function P rasim e General purpose measuring ports e g assembling a pressure transducer e Acheck valve to bypass the sequence cartridge during decompression of system pressure below 14 bar 200 psi Sequence Mainfold i 14 bar 203 pre eem eo VO c 4 i a ee ed Cee am mimm x Digital OBE qp cea a p I 2 22 2 4 2 22245 ai eE ORE MERE NU ADDE Annus ERU n RUM REIR BASIC HYDRAULIC CIRCUITS RKP D with External Pressure Supply The tllustration below shows the applicatio
7. easy operation machine control systems with either fieldbus interface and requires no knowledge of fieldbus systems or analog output signals or software The RKP D offers easy integration into different control Software configurable analog condition Users approaches to make it flexible for the widest range of that want the full set of options in analog mode for machine requirements Some available features include modifying the RKP D settings can also use the Moog Valve and Pump Configuration Software to modify the Factory settings The RKP D comes from the factory factory settings including the pre defined parameter set up in an analog mode This allows it to be sets Whether in commissioning or during operation operated as a plug and play device commanded by adjustments can be made based on the requirements analog setpoint signals for displacement and pressure of the specific machine process The software is as well as factory pre sets for all key parameters specially designed by Moog and is based on our This enables easy and quick set up for those users extensive experience with hydraulic products with basic requirements It is available at http www moogsoftwaredownload com Analog operation mode selection Users that need a higher degree of adaptation to unique machine Fieldbus operating condition Pumps can also be fully requirements only need to provide the RKP D with an controlled via a fieldbus interface and Moog Valve
8. for its modular functionality which enables tailored pumps or combinations ideally suited to an application Features Eight sizes between 19 and 250 cm rev 1 2 and 15 3 in rev e Large selection of controllers e Multiple pumps configurations by axial mounting e Suitable for various hydraulic fluids Medium pressure series 280 bar 4 000 psi and High pressure series 350 bar 5 000 psi for mineral oil e Shortresponse time Compactdesign Goodsuction characteristics Low pressureripple e Low noise level Precise Closed Loop Control The pilot valve with digital onboard electronics provides more dynamics and improved precision control of displacement and pressure regulation while offering a range of advanced functions Machine processes driven by RKP D have higher repeatability and better quality of the finished parts Analog or Fieldbus Operation The ability to function as a fieldbus device or asa traditional analog device ensures compatibility with different PLC structures When operating as an analog device the RKP D uses pure analog command signals to control displacement and pressure and the user can select the matching operation mode Consequently this RKP D provides many benefits of digital control without requiring a fieldbus interface into the machine s PLC On the Fly Adjustment Ina sequential machine process one single RKP D typically drives different cylinders one after the other with each
9. requiring specific RKP D settings Now itis possible to change the parameters of the RKP D on the fly including setting of the pressure controller activation of different operational modes and selection of different pressure sensors This enables adaptation of the RKP D behavior to the specific requirements of each cycle step The end result is greater consistency and shorter cycle time of the whole machine process Optimized Multiple Pump System The master slave operation allows to combine multiple pumps hydraulically and to realize a stable and dynamic pressure control The hybrid operation with the combination of a RKP D and a fixed displacement pump is also possible Advanced Troubleshooting Real time diagnostics with full access to internal parameters via the Human Machine Interface HMI or a laptop PC improves uptime and reduces maintenance costs In addition the fail safe behavior of the RKP D can be adapted to the requirements of the machine process Saving Space and Assembly Time The basic RKP D functions p and Q are preadjusted to save time during assembly and commissioning Since all necessary electronic functions are integrated in the pilot valve an additional external pQ card with separate cabling is not required Warranty The Moog RKP stands for reliability low noise and durability Under the conditions described in section Technical Data of the RKP catalog warranty for mineral oil is covered for 10
10. with external pressure supply useable for master slave operation RKP D with external pressure supply useable for master slave and hybrid operation RKP D with internal pressure supply useable for master slave and hybrid operation For RKP D with EtherCAT only the options D5 D6 D7 D8 are available 11 Additional equipment No Accessories Maximum displacement limiter Only at gear pump WZ Additional information For Compensators D1 to D8 CAN bus actual value output 4 to 20 mA CAN bus actual value output 2 to 10 V EtherCAT bus actual value output 4 to 20 mA For tandem gear pumps Displacement of the 2nd gear pump btobO 5to50 cm rev Note Preferred configurations are highlighted TAKE A CLOSER LOOK Moog designs a range of motion control products that complement the performance of those featured in this document Visit our website for more information and contact the Moog facility nearest you Argentinia 5411 43265916 info argentina moog com Australia 61 3 9561 6044 info australia moog com Brazil 55 11 35720400 info brazi moog com Canada 1 716 652 2000 info canada moog com China 86 21 2893 1600 info china moog com Finland 358 10422 1840 info finland moog com France 33 1 4560 7000 info france moog com Germany 49 7031 6220 info germany moog com Hong Kong 852 2635 3200 info hongkong moog com www moog com industrial India 91 80 4057 6666 info india moog com Ireland 353 2 451 90
11. works by continuously comparing the system pressure determined via the pressure sensor with the current pressure set point If the system pressure exceeds the pressure set point the RKP D will reduce its displacement until the desired pressure is no longer exceeded The RKP D can switch into active suction mode negative displacement during pressure control which allows fast pressure reduction in a connected oil volume The user can harmonize the parameters of the digital pressure controller with the existing hydraulic system Sixteen complete parameter sets have been predefined to facilitate this procedure They may be selected and also switched during operation via an analog 0 to 10 V signal or the fieldbus interface The user can choose from two pressure sensor connections in order to achieve the target pressure It is possible to switch between these two sensors during operation The pressure sensor inputs are configurable thereby permitting the connection of several types of pressure sensors 4 to 20 mA 0 to 10 V 2 3 and 4 wire sensors Power Control The power control function works by continuously computing the hydraulic power which is a product of the current pressure load and the current stroke ring position displacement Should the current power reach the pre defined limit the displacement can not be longer increased Leakage Compensation As the pressure increases pumps will produce increasing interna
12. www moogsoftwaredownload com to down load the software To connect the software with the RKP D the following additional equipment is required e Afree PCI PCMCIA slot or USB port e CAN interface card PCI PCMCIA USB Note Interface card IXXAT USB to CANcompact recommended Moog order code C43094 001 CANcable Note CAN cable Sub D to M12 with termination resistor recommended Moog order code TD3999 137 e M8 to M12 Adapter CA40934 001 e Power supply for valve 24 V 2A Rev E May 2014 11 COMMUNICATION STANDARD Analog Interface Inthe factory preset analog mode of operation the RKP D receives its set points for pressure p and displacement Q as analog signals Additionally the user can take full advantage of the ability to alter operation modes during operation including the following key abilities To change the setting of the pressure controller To select from two possible pressure sensor inputs To activate or deactivate the master slave operation To activate or deactivate the hybrid mode To activate or deactivate the pressure controller e oactivate or deactivate the power limiter In order to take advantage of all these possibilities the machine s PLC must provide the following 3 analog output signals Displacement command signal O to 10 V factory set or 4 to 20 mA software configurable Pressure command signal O to 10 V factory set or 4 to 20 mA software configurable Operation mod
13. 00 info ireland moog com Italy 39 0332421111 info italy moog com Japan 81 46 355 3767 info japan moog com Korea 82 31 7646711 info korea moog com Luxembourg 352 40 46 401 info luxembourg moog com Netherlands 31 252 462 000 info thenetherlands moog com Norway 47 6494 1948 info norway moog com Russia 8317131811 info russia moog com Singapore 65 677 36238 info singapore moog com South Africa 27 12653 6768 info southafrica moog com Spain 34 902 133 240 info spain moog com Sweden 46 31 680 060 info sweden moog com Switzerland 41 71 3945010 info switzerland moog com Turkey 90 216 663 6020 info turkey moog com United Kingdom 44 0 1684 858000 info uk moog com USA 1 716 652 2000 info usa moog com Moog is aregistered trademark of Moog Inc All trademarks as indicated herein are the property of Moog Inc and its subsidiaries All rights reserved CANopen is a registered trademark of CAN in Automation CiA EtherCAT is a registered trademark of Beckhoff Automation GmbH Windows is a registered trademark of Microsoft Corporation RKP D Radial Piston Pump with Digital Control STAR Rev E May 2014 Id CDL28622 en MOOG WHAT MOVES YOUR WORLD
14. Inputs 4 to 20 mA Floating 8 5 to 32 V c based on pin 10 Operation of the pilot valve enabled 6 5 V c based on pin 10 Pilot valve fail safe condition Set point signal Q Reference Input rated command Output Actual stroke ring position Set point signal p Output Actual pressure Common feedback for pin 4 and 7 Reference to ground for pin 4 and 7 Voltage signal output U 2 to 10 V to GND At 6 V the stroke ring is positioned in centered position The RKP D delivers 076 flow Current signal output 1 4 to 20 mA to GND is proportional to actual stroke ring position Output is short circuit proof R O to 5000 Voltage signal output U 2 to 10 V to GND 2 V corresponds to 0 pressure 10 V corresponds to 100 pressure Current signal output l 4 to 20 mA to GND is proportional to actual pressure Output is short circuit proof R 0 to 5000 Supply voltage TT des WO SZ RIO e S ee M Error control U 0 5 V 2 means fault Protective earth PE Connected with valve body The potential difference from pin 4 5 and 7 measured against pin 10 each must be between 15 and 32 V 1 Aspin5isthe common feedback for pin 4 and pin I 1 _ applies 2 Reference to pin 10 supply ground 9 Note Type of signal can NOT be switched via software and has to be specified when designating the model code see model code position 12 Suitable mating connector 11 PE Moog order code B9 067 111 Import
15. RADIAL PISTON PUMP WITH DIGITAL CONTROL RKP D DYNAMIC DISPLACEMENT AND PRESSURE CONTROL FOR DEMANDING APPLICATIONS INTRODUCTION Moog Radial Piston Pump with Digital Control RKP D Whenever the highest levels of motion control performance and design flexibility are required youll find Moog expertise at work I hrougnh collaboration creativity and world class technological solutions we help you overcome your toughest engineering obstacles Enhance your product s performance And help take your thinking further than you ever thought possible DL ISODEC TOS oen out n MEER Md Ore 2 Table GIC Ont eb ossnomeie bU IR 2 Product OVO VIC W iecit sel tunasucacyraterisaendiaeee 3 Features and BeneTUt5 asistir er rti 4 ihe Description Radial Piston Pumps sss 5 Description Digital CODLODL o oesesrtateietie ite attri 6 TEI TING Pu DATA coste mies DE HEREIN UR 7 Fe NMS VV cii a PD ccm 7 Basic Hydraulic t FEDES ases hoc tts piv pbi neigt d Configuration OT Wale aea ressent tn relata va deu 11 Com nication Standardsete 12 Operating MOU UGSSaetaneqe imd eases avtiasaracutenss 13 j Electrical Interfaces esee 14 BACKGROUND ocn ENIRO ERINDURHNUIR UR 23 Conversion Table same Rn OTRO UNI EPOR 23 About OOS M 24 DORDERINGINEOBRINIATIOBs cu actora cot reist 26 Accessories and Spare Parts sss 26 Model Codi I 28 This catalog is for users with technical knowledge To ensure all necessary characteris
16. al Interfaces X3 X4 X7 X6 X5 DOC RR CON DIT RENTEN emnes em temen DRITTE en Seno Moog Valve and Pump Configuration Software optional LocalCAN for master slave operation and access via 3 pole pin contact Degree of protection for valve and LVDT IP65 with connected plugs or appropriate protecting caps Rev E May 2014 14 ELECTRICAL INTERFACES CAN Status display LEDs Status display LEDs The network and the servo valve s status are indicated by multicolor status display LEDs on the electronic housing Network status LED NS The network status LED displays the status of the network management NMT state machine e demum Module status LED MS The module status LED displays the status of device state machine DSM Module status LED MS Valve State Machine status word Description according to VDMA profile Green blinking INIT or DISABLED Servo valve standby mode Red blinking FAULT DISABLED or FAULT HOLD Recoverable error Fault reactions FAULT DISABLED FAULT HOLD Red NOT READY Unrecoverable error Fault reaction NOT READY ELECTRICAL INTERFACES EtherCAT Status display LEDs Status display LEDs The network and the servo valve s status are indicated by multicolor status display LEDs on the electronic housing Network link activity LED L A in and L A out The network Link Activity LEDs L A in and L A out dis
17. and additional 0 to 10 V signal to enable easy selection of Pump Configuration Software thereby offering the operation modes full range of flexibility and functionality This fieldbus mode is ideally suited to the most demanding requirements and allows knowledgeable users to program easily and discover new ways to optimize Structural Design of RKP D performance Analog feedback Analog commands Fieldbus 1 E Interface Power Supply P i gp Default ky analog mode Qeetbey library Parameters Parameters w PAR re Default sensorX6 fe Default aa solo mode I TU 2 X 5 Ev z fU EIS fg Elo LLI O ic go co oluv 3 olJ N Plu oy ale C a D O gt fF T wv o l wr AMU Pm eee ee eK eee ee eee Hee 1 gt OW I Si o cate eal I un i t em 00 r7 I I FUNCTIONALITY Displacement Control The RKP D controls the position of the stroke ring tn accordance with the specified displacement set point in a closed loop regulation Depending on the selected RKP size 19 32 45 63 80 100 140 250 cm rev a pump displacement of 0 to 100 is made available The displacement setting is factory calibrated such that the RKP D produces a flow rate of 0 ata Q set point value of 0 V anda flowrate of 100 at a Q set point value of 10 V The parameters for the digital Q controller are factory set and cannot be altered by the user Pressure Control The pressure control function
18. ant note Only the use of specified mating connector metall shell in combination with proper shielding to meet the EMC requirements ELECTRICAL INTERFACES CAN Connector X3 and X4 External thread Internal thread 2 CAN SHLD Shield CAN V No connection tn the valve Ng v 89 KS J Tw 5 CAN L descente View on CAN connector X3 View on CAN connector X4 Internal thread Internal thread EtherCAT Connector X3 and X4 socket contact socket contact Pin Signal X4 IN Signal X3 OUT 2 2 3 h m meor d eso PEN RX IN RX OUT a TX IN TX OUT A A P 1 1 4 4 RX IN RX OUT View on EtherCAT View on EtherCAT connector X3 connector X4 External Pressure Sensor Inputs X5 and X6 Factory settings Sensor signal 0 to 10 V 4 wire type i o Supported Types of Pressure Sensors Option Option Option Factory Setting Supply 24 V DC Supply 24 V DC Supply 24 V DC Supply 24 V DC Signal 4 to 20 mA Signal 4 to 20 mA i Signal 0 to 10 V Signal GND Signal GND GND at 3 Wire Sensor Supply GND Supply GND 2 and 3 Wire Sensor 4 Wire Sensor 3 Wire Sensor 4 Wire Sensor 4to 20mA 4 to 20mA O0tol0V 0tol10V Note Each option requires adequate setting of the analog interface via the Moog Valve and Pump Configuration Software ELECTRICAL INTERFACES Analog Operation Mode Selection X7 Factory settings Differential input signal O to 10 V 1 Supply 24 V c maximum 200 mA Signal GND Supply GND Sig
19. d 1 Holding pressure 2 Holding pressure lt gt t Holding pressure switchover Pump operates independently BASIC HYDRAULIC CIRCUITS RKP D with Internal Pressure Supply without Sequence Mainfold The pilot valve D930 controls the position of the stroke ring by influencing the pilot oil flow inside the large control piston The p port of the pilot valve as well as the small control piston on the opposite side are connected to the RKP D pressure line In order to work properly the pilot system of the RKP D in models with internal pressure supply controller options D1 D4 D5 and D8 needs to be supplied with a pilot pressure of 214 bar 200 psi Hence in the configuration shown below the output pressure of the RKP D load pressure of the attached cylinder or hydromotor must never fall below 14 bar 200 psi otherwise the pilot system looses control of the stroke ring position and the RKP D goes for 100 displacement This behavior protects the RKP D in case of fail safe situations and is caused by the spring configuration of the control pistons which corresponds to a system pressure of approximately 11 bar 160 psi The pilot valve of the RKP D versions with internal pressure supply is equipped with a special fail safe position allowing internal flushing of the RKP D housing in standby condition command signals 0 Pilot Valve D930 pL 4 ae eem Position
20. e break Actual value feedback signals 4 to 20 mA 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 Those signals can be used for 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 0 96 displacement ELECTRICAL INTERFACES Continuation Actual value feedback signals 4 to 20 mA ground related Note Type of signal is fixed and not switchable via software e At20mA pin 6 the RKP D delivers 100 96 flow whereas at 4 mA pin 6 the RKP D delivers 100 96 flow e At4mA pin8 the actual pressure corresponds to 0 96 e At20 mA pin 8 the actual pressure corresponds to 100 The actual value signal outputs allow to detect a cable break when l 0 mA respectively l 0 mA Wiring for 11 pole PE Connector X1 Factory Settings Differential Voltage Inputs 0 to 10 V Floating Not used Not used Enable signal Circuit diagram for measurement of actual value I strokering position and I actual pressure as voltage signals 2 to 10 V R 500 Ohm 0 25 W Pump Side Actual value U 2 to 10V A ctual value Us 2tolO V 4 to 20mA 10 GND Configurable Settings Current
21. e selection 0 to 10 V The actual values for displacement and pressure are reported back to the PLC by means of two 2 to 10 V and 4 to 20 mA signal outputs of the RKP D The Moog Valve and Pump Configuration Software can be used as a set up tool in order to modify the factory settings or to analyze the operational behavior of the RKP D Analog Mode Fieldbus Interface Operated by a fieldbus the RKP can be parameterized controlled activated and monitored via the built in fieldbus interface These interfaces are according to the corresponding fieldbus standards 1 CANopen Communication profile CiA301 Device Profile Fluid Power CiA408 and ISO11898 2 EtherCAT IEC PAS 62407 Please note that details are available in the Moog User Manuals for RKP Firmware CANopen Manual and the EtherCAT Manual SE x3 PLC Q Set point analog Xl a X4 4 Fieldbus if gt H 10 p Set point analog CH Xl E EIITITTITT 2 ms z Moog Valve and Pump e Configuration Software optional LAM Parameter set selection 0 to 10 V X7 a EE lt optional M RTL RKP D Fieldbus Mode PLC Y OPERATION MODES ANALOG OPERATION ONLY One operation mode includes the following data The 16 operation modes of the RKP D are factory set and settings as indicated in the table below They can be selected in the analog operation modes with a 0 to 10 V signal at the e lofl freely adjustable pr
22. essure controller input X7 parameter sets set by default to various system oil volumes see table The assignment of a pressure sensor is a component of the pressure controller parameter set interface 1 on X5 or interface 2 on X6 ControlWord for the pump with status bits ACTIVE HOLD DISABLED and bits to activate Pressure controller leakage compensation slave operation power controller EER Voltage Oto 9 0 to Pressure 10 parameter set os Sid Sensor interface mt ae pe a a a 5 0 75 10 0 12 5 15 0 20 0 25 0 30 0 35 0 40 0 50 0 oil volume I ControlWord valve status ControlWord pres sure ON OFF ON OFF controller ControlWord leakage compensation operation ControlWord power controller Hybridmode mode E o OFF ACTIVE 1 Requires initial calibration of the hybrid displacement adjustment by the end user 7 The RKP D stages initially need to be designated as master or slave by the end user Voltage levels applies 100 mV 1 Liter 0 264 gal US The Moog Valve and Pump Configuration Software Step changes between different voltage levels must not allows users to modify the default settings according to exceed 1 ms individual requirements General comments In cases where X is not connected electrically operation mode 1 is activated automatically TECHNICAL DATA Moog Radial Piston Pump with Digital Control RKP D ELECTRICAL INTERFACES CAN Designation of the Electric
23. ev cm rev cm rev cm rev 250 cme rev Displacement and attachment flange of Moog gear pumps AZP cm rev SAE A cm rev SAE A cm rev SAE A cm rev SAE A cm rev SAE A cm rev SAE A cm rev SAE A cm rev SAE B cm rev SAE B cm rev SAE B Pump ports Medium pressure series to 280 bar 4 000 psi sizes 32 45 63 and 80 cm rev Medium pressure series to 280 bar 4 000 psi sizes 100 and 140 cm rev High pressure series to 350 bar 5 000 psi sizes 32 63 80 and 250 cm rev Medium pressure series to 280 bar 4 000 psi size 19 cm rev High pressure series to 350 bar 5 000 psi size 19 cm rev German 4 bolt flange only for gear pumps Note Preferred configurations are highlighted MODEL CODE Radial Piston Pump Operating fluid Mineral Oil HFA oil in water HFB oil in water HFC water glycol HFD synthetic esther Cutting Emulsion Operating pressure Maximum operating pressure e g 28 gt 280 bar 4 000 psi Maximum operating pressure e g 35 gt 350 bar 5 000 psi 10 Control Compensators RKP D electro hydraulic control with digital on board electronics internal pressure supply RKP D electro hydraulic control with digital on board electronics external pressure supply RKP D with external pressure supply useable for hybrid operation RKP D with internal pressure supply useable for hybrid operation RKP D with internal pressure supply useable for master slave operation RKP D
24. ide is part of Moog Inc NYSE MOG A and MOG B which has sales of USD 2 61 billion KAKA 3 Servo Drives Moog maintains facilities in 26 countries around the globe This vast scope ensures that our engineers remain close to the needs of machine builders and provide flexible design solutions and technical expertise tailored to our customers toughest challenges Moog experts work in close collaboration with machine builders and application engineers to design motion control systems for greater productivity higher reliability superior connectivity less costly maintenance and more effective operations Our regional presence industry knowledge and design flexibility ensures Moog motion control solutions are tailored to their environment from meeting operating regulations and performance standards to taking machine performance to a higher level Servo Motors Products At the heart of every Moog solution is an array of products engineered for precision high performance and reliability For more than six decades Moog products have been specified for critical machine applications Some are developed specifically for unique operating environments Others are standard equipment on machines across many industries All are continuously improved to take advantage of the latest technology breakthroughs and advancements Servo Valves Moog products include e Servo Valves and Proportional Valves e Servo Motors and Se
25. igital on board electronics for displacement and pressure regulation tuning and diagnostics Moog s RKP D can be digitally controlled via a fieldbus interface or run as a purely analog device controlled by analog command signals This provides maximum flexibility for compatibility with several PLC architectures Configuration Software One key advantage of the new RKP D is the ability of the user to perform fast and convenient commissioning diagnostics and configuration with the Moog Valve and Pump Configuration Software This Microsoft Windows based software communicates with the RKP D via the CANopen or local CAN fieldbus It can be installed on a laptop computer Set values actual values status information and all relevant parameters are displayed graphically and may be modified easily or run with factory presets Additional tools such as the integrated oscilloscope and the function generator help to facilitate the commissioning of the device This software is free and available at http www moogsoftwaredownload com Applications The high performance flexible control system used for RKP D makes it the ideal solution for pressure flow and power controlled hydraulic systems of any kind It is especially valuable for sequential machine processes which require adaptation of the RKP D parameters during operation FEATURES AND BENEFITS General In addition to reliability and performance the Radial Piston Pump ts known
26. l leakage that will be missing from the usable flow that is normally generated by the pump The pump electronics contains a leakage compensation function to cancel out this effect As the system pressure increases the displacement increases automatically so that the useable flow remains virtually constant This function is preset at the factory but can be adjusted to actual machine conditions to compensate for system leakages or switched off entirely depending on a customer s unique needs Internal Flushing Function This special function is included in RKP D models with aninternal pressure supply controller D1 D4 D5 and D8 The RKP D monitors changes in the set points of pressure p and displacement Q If one of the setpoints is 1 for 3 minutes the pilot valve is switched off goes to its fail safe position and flushes the RKP D housing This limits the temperature of the RKP D To deactivate the flushing function both set points have to be 1 26 Master Slave Operation Master Slave operation may be used in set ups where several pumps are combined into one system In this case there must be only one active pressure controller master while the remaining pumps slaves are purely displacement controlled by the master pump During this Master Slave operation the master will communicate his displacement value via the localCAN bus to the slaves The advantages of the Master Slave operation is the stable pressure contr
27. n of a model with external pressure supply This RKP D version contains a shutter valve in the p line of the pilot valve and is equipped with a different spring in the control pistons which results in a low natural pressure of about 1 bar 15 psi To achieve sufficient RKP D performance at low system pressures it is required to apply an additional constant displacement pump which ensures a minimum control pressure level A cost saving solution to this problem ts to use the cooling and filtration circuit for this purpose as shown below Due to the function of the shutter valve the pilot system is supplied directly from the RKP D outlet at higher system pressures The recommendations for the selection of the supplementary pump in general a gear pump are as follows Pressure 25 to 50 bar 363 to 725 psi minimum flow rate RKP D 19 to 45 cm rev gt V 6 l min 1 6 gpm RKP D 63 to 100 cm rev gt V 12 l min 3 1 gpm e RKP D 140 cm rev gt V 16 l min 4 2 gpm RKP D 250 cm rev gt V 25 l min 6 6 gpm Please note that models with external pressure supply controller option D2 D3 D6 and D7 do not include an automatic flushing function Therefore the user of the RKP D is responsible for the thermal balance of the RKP D especially tn standby condition Depending on the specific circumstances it may be necessary to flush the RKP D externally see also Set up and Operating Instructions Pilot Valve a
28. nal 0 to 10 V Mating Connector with Cable for Inputs X5 X6 X7 Available from Moog or C Escha Bauelemente GmbH L 2 0 m 78 740 Moog Ordering No C72977 002 or Escha Type 8028332 L 5 0 m 196 850 Moog Ordering No C72977 005 or Escha Type 8028333 Pin 1 Brown BN Pin 2 White WH Pin3 Blue BU Pin 4 Black BK IP65 4 x 0 25 mm 0 009 PUR screened not included in delivery of RKP D M8x1 4 pole WH 2 4 BK BN 1 3 BU Front view on the cable NR 0 93 28 1 10 ELECTRICAL INTERFACES LocalCAN Connector for Master Slave Combinations X10 CAN H Transceiver H En CAN L Transceiver L Junction Cable for Master Slave Combinations X10 Available from Moog or C Escha Bauelemente GmbH L 0 3m 11 811 Moog Ordering No C43395 001 or Escha Type 8031233 IP65 3x 0 25 mm 0 009 PUR screened not included in delivery of RKP D M8x1 3 pole 2 BK BU 3 1 BN Front view on the cable CONVERSION TABLE General Conversion Table l bar l psi 1 mm lin 1 cm lin ll Liter 1 gal US lkg 1 lb Nm 1 bf in lkW 1 hp UK F 1 C 0 F 0 C 100 F 100 C 14 5038 psi Ib in 0 06895 bar 0 0394 in 25 4 mm 0 0610 in 0 000264 gpm 16 3871 cm 0 004329 gpm 0 26417 gal US 61 024 in 3 7854 Liter 231 in 2 2046 b 0 4536 kg 8 8507 lbf in 0 1130 Nm 1 3596 PS 1 3410 hp UK 1 0139 PS 0 7457 kW dz 6
29. o the eccentric positioning of the stroke ring the piston stroke being twice the eccentricity The eccentric position of the stroke ring is controlled by two diametrically opposed control pistons 6 10 and the compensator 11 The oil flow to and from the pump passes through the pump ports and into and out of the pistons through the porting in the control journal The rolling bearing supporting the drive shaft is only subjected to external forces The compensator setting limits the system pressure and adjusts the pump flow between zero and full flow to maintain the set pressure At the RKP D the position of the strokering is detected by an LVDT 12 and high dynamically controlled by a servo pilot valve 13 11 12 13 FUP x ri Wr i Fe i Siis pa cd MM JI DESCRIPTION RADIAL PISTON PUMP WITH DIGITAL CONTROL Flexible Control Options This feature greatly increases the options for adapting the RKP D behavior to machine processes Signals can be exchanged between the RKP D and the including the transition from one operation mode machine controller either by means of the fieldbus to another on the fly While this option provides interface fieldbus mode or as analog signals analog opportunities for much higher performance of the mode This type of pump can be easily integrated into RKP D it is still an analog mode for
30. ol at a synchronous displacement This operating mode can be switched on and off using the fieldbus interface as well as by using analog selection of the corresponding operation mode Please note that only pumps with controller options D5 to D8 are equipped with a localCAN bus interface and thus are able to perform this Master Slave operation Pleas note the definition of which pump is the master and which is the slave in a multiple pump arrangement must be completed during initial commissioning of the RKP D using the Moog Valve and Pump Configuration Software or fieldbus FUNCTIONALITY Hybrid Mode In the hybrid mode a RKP D is merged with a fixed displacemet pump in a shared volume In the standby condition the RKP D has to pump some or all of the flow from the fixed displacement pump back to the tank Generally a flow ratio of 100 80 100 60 is ideal between the RKP D and the fixed displacement pump may not be exceeded The RKP D s electronics afford the option of activating a second displacement calibration by switching to the hybrid mode which makes the generation of negative set point values by the customer s control system unnecessary Please note that this second displacement adjustment is not factory preset and must be calibrated by the user during initial commissioning For easy use there is a predesigned menu for this adjustment in the Moog Valve and Pump Configuration Software RKP D s for hybrid operati
31. on cable For X5 X6 X7 C7 2377 005 L 5 0 m 196 850 inch 4 Connecting cable master slave X10 C43395 001 L 0 3 m 11 811 inch 5 USB to CAN interface card For usage with Moog Valve and Pump Configuration C43094 001 Software CAN cable Sub D to M12 Forusage with Moog Valve and Pump Configuration TD3999 137 Software Adaptor cable M8 connector For configuration with the Moog Valve and Pump CA40934 001 to M12 connector Configuration Software not required for pumps with CANbus interface The sequence manifolds contain the fixing screws and the O Ring to assemble the block to the RKP D outlet cm 0 061 in ACCESSORIES AND SPARE PARTS LU NEC CNN C RNC NN Radial Piston Pump RKP User Manual Radial Piston Pump RKP Mounting and Installation Notes Radial Piston Pump RKP D Application Manual Radial Piston Pump RKP D with CANopen Firmware Radial Piston Pump RKP D with EtherCAT Interface Radial Piston Pump RKP for Aviation Industry Hydraulic Fluids Moog Valve and Pump Configuration Software Manuals Visit www moog com industrial literature to downloada CA53461 document using the part number in a search CA57130 CA58548 B99224 CDS39670 Software Download software free of charge at www moogsoftwaredownload com MODEL CODE Standard version Operating pressure 280 bar 4 000 psi single pump clockwise rotation mineral oil operation standard drive flange metric key shaft
32. on have special design features and thus are identified by dedicated model codes controller option D3 D4 D7 and D8 The Principles of Hybrid Mode Consumer 2 Consumer 1 Q command Internal 10V External Q command M Displacement of the fixed pump maximum 8 V Local Switchover to Holding Pressurer This special function provides a solution to a common problem encountered during the transition from the speed to the hold pressure phase when controlling the injection process of injection molding machines When operating the RKP D in fieldbus mode small but unavoidable delay times appear while transferring the set points between the machine s PLC and the RKP D These delay times which may vary within certain limits limit the repetitive accuracy of the hold pressure switchover of injection molding machines To overcome this problem the RKP D provides a special software function called Local Hold Pressure Switchover which independently accomplishes the transition from the speed to the hold pressure phase in nearly real time using the control electronics This happens without intervention by the superior PLC and therefore without disturbing signal running times over the fieldbus This function can be used only during fieldbus operation of the RKP D and is generally only needed in this operating mode Functional Principle of the Local Switchover to Holding Pressure Injection R Trigger threshol
33. play the status of the physical connection Note The LEDs L A in and L A out blink fast to To distinguish between these two states stop the indicate an incomplete physical connection often network master to avoid network traffic If the caused by acable break of asingle wire This canbe LED L A in L A out is still blinking very fast confused with the flickering state please check the cabling Module status LED MS The module status LED displays the status of the device state machine DSM Module status LED MS Valve State Machine status word Description according to VDMA profile Green blinking INIT or DISABLED Servo valve standby mode Red blinking FAULT DISABLED or FAULT HOLD Recoverable error Fault reactions FAULT DISABLED FAULT HOLD Red NOTREAD Unrecoverable error Fault reaction NOT READY ELECTRICAL INTERFACES EtherCAT Network Run LED RUN The network Run LED RUN displays the status of the communication LED RUN Network Link Activity State Blinking Device is in state PRE OPERATIONAL Single flash Device is in state 5SAFE OPERATIONAL ELECTRICAL INTERFACES General Requirements for Pump Electronics Supply 24 Vic minimum 18 V e maximum 32 V Shielding e Allsignallines including those applied in connection with external transducers shielded Shielding on power supply side connected radially to GND 0 V and connected to the ma
34. round the world Moog offers you service and expertise you can e Stock management of spare parts and products to count on to keep your equipment operating as it should prevent unplanned downtime Formula One Simulation Table Flexible programs tailored to your needs such as This promise offers many benefits to our upgrades preventative maintenance and annual customers including multi year contracts Oncsiteservices bring the expertise to you providing Reduce your downtime by keeping critical machines quicker commissioning set up and diagnostics running in peak performance Accesstoreliable services that are guaranteed to Protect your investment by ensuring reliability offer consistent quality anywhere in the world versatility and long life of products For more information on Moog Global Support visit Better plan your maintenance activities and make www moog com industrial service systematic upgrades Leverage our flexible programs to meet the unique service requirements of your facility Look to Moog for global support including MOO C gt e Repair services using OEM parts are performed by G LO BAL trained technicians to the latest specifications SUPPO RT Rev E May 2014 23 ACCESSORIES AND SPARE PARTS Mating connector 11 PE EN175201 For X1 697067 11 part 804 2 Mating connector M8 with connection cable For X5 X6 X7 LI Z97 7 002 L 2 0 m 78 740 inch 3 Mating connector M8 with connecti
35. rvo Drives e Servo Controllers and Software e Radial Piston Pumps e Actuators Integrated Hydraulic Manifold Systems and Radial Piston Pumps Cartridge Valves e Slip Rings Motion Bases Rev E May 2014 24 BACKGROUND Moog Radial Piston Pump with Digital Control RKP D ABOUT MOOG Hydraulic solutions Since Bill Moog invented the first commercially viable Servo Valve in 1951 Moog has set the standard for world class hydraulic technology Today Moog products are used in a variety of applications providing high power enhanced productivity and ever better performance for some of the worlds most demanding applications Electric solutions Clean operation low noise generation less maintenance and reduced power consumption make Moog electric solutions ideal for applications worldwide Moog is the ideal partner for applications where transitioning technologies requires special expertise Flight Simulation Hybrid solutions By incorporating the advantages of existing hydraulic and electric technologies including modular flexibility increased efficiency and cleanliness into innovative hybrid solutions Moog offers new performance potential in specialized applications Moog Global Support Moog Global Support is our promise to offer world class Repair and Maintenance Services delivered expertly by our trained technicians With the reliability only available from a leading manufacturer with facilities a
36. tics for function and safety of the system the user has to check the suitability of the products described herein The products described herein are subject to change without notice In case of doubt please contact Moog Moog is aregistered trademark of Moog Inc and its subsidiaries All trademarks as indicated herein are the property of Moog Inc and its subsidiaries For the full disclaimer refer to www moog com literature disclaimers For the most current information visit www moog com industrial or contact your local Moog office Rev E May 2014 2 PRODUCT OVERVIEW Proven Pump Technology Moog s Radial Piston Pump product line also known as RKP is a high performance variable displacement pump for industrial applications Based ona proven concept RKP s robust and contamination resistant design allows for long life and high reliability Its ability to deliver rapid response time and high volumetric efficiencies has made it the choice for many machines with demanding flow pressure and power control needs Moog produces a wide range of Radial Piston Pumps in different sizes single and multiple arrangements and with various controls mechanical hydromechanical electrohydraulic digital and analog in order to provide maximum flexibility to machine builders Digital or Analog Control With this version Moog has significantly improved the control technology of the RKP with an advanced closed loop proportional valve with d
37. ting connector housing because of EMC Meets the requirements of emission EN 61000 4 4 2001 10 and immunity EN 61000 6 2 1999 External fusing 1 6 A slow blow for each pump Duty cycle 100 96 Minimum cross section of all leads 20 75 mm AWG 18 Consider ee MM between cabinet and RKP D Note When making electric connections to the RKP D shield protective earth appropriate measures must be taken to ensure that locally different grounding potentials Command Signals and Wiring for RKP D with Analog Operation Command signals 0 to 10 V floating factory setting The stroke ring position volumetric flow of the RKP D is proportional U U at the 11 PE connector X1 The command signal U U 10 V equals 100 displacement whereas U U 0 V equals 0 6 displacement The pressure function controls the pressure measured by an external pressure transducer Ihe pressure is proportional U U at 11 PE pole connector X1 U U 10 V equals 100 regulated pressure U U V 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 to 20 mA floating software adjustable The stroke ring position volumetric flow of the RKP D is proportional to at the 11 PE connector X1 The command signal 20 mA equals 100 displacement
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