Eaton ER9.3-10 User manual

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Digitaler Reglerverstärker ER9.3-10

zur elektrohydraulischen Pumpenreglung

der EATON Axialkolbenpumpen

X und W Design

Digital Amplifier And Controller ER9.3-10

For Displacement Control of EATON Variable

Piston Pumps in X and W Design

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Table of Contents

Features....................................................................................................................28

Function....................................................................................................................29

Technical Data..........................................................................................................30

Pin Assignment on Back Connector X1....................................................................32

Display and Keypad..................................................................................................33

Setting of Parameters...............................................................................................34

Setting of Parameters Using the Keypad ..............................................................34

Recall Default Values of a Single Parameter.....................................................35

Recall Default Values of all Parameters ............................................................35

Setting Parameters Using RS232 Serial Interface and PC....................................36

Setting Values...........................................................................................................36

Digital Set Values..................................................................................................37

Analog Set Values.................................................................................................37

Ramp Function .........................................................................................................38

Controller Structure...................................................................................................38

Test Jacks.................................................................................................................40

Display Parameters...................................................................................................40

Analog Output...........................................................................................................40

Comparator...............................................................................................................40

Break Function..........................................................................................................40

Fail Safe Function.....................................................................................................40

List of Parameters – as delivered condition..............................................................41

Commissioning.........................................................................................................44

Non Warranty........................................................................................................44

Wiring....................................................................................................................44

Installation of Electronic Card................................................................................45

Verification of Parameters.....................................................................................45

Switching on the Pump..........................................................................................45

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Adjustment of Zero Point on Swash Plate Angle Sensor.......................................45

Verification of Control Behavior.............................................................................47

Modifying Sensor Gain..........................................................................................47

Closed Loop Function ...........................................................................................47

Saving Parameters................................................................................................47

Hint........................................................................................................................47

Änderung / Revision..................................................................................................48

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Features

The digital amplifier and controller card ER9.3-10 is used for displacement control SP of EATON

variable piston pumps in X and W design. The swash plate is positioned by a Vickers Proportional

Valve KDG4V-3. The digital amplifier and controller card meet the industrial standard for EMC

EMV 89/336/EEC, which ensures a high interference security and low interference emission. The

electronic card is tested according to DIN EN 60068-2-6 (vibration) and DIN EN 60068-2-27

(mechanical shock). The electronic card features a display and six buttons to change the card

parameters. Parameterisation of the digital amplifier and controller card is also possible by using the

enclosed software tool ER9.3-Tool via a serial RS232 interface.

The system features are:

•Differential amplifier input for set points in the range of 0 … ± 10V, 14 bit resolution.

•Additional single ended, independent set point inputs, (one for the range of 0 … ± 10V, 14 bit

resolution; the other for the range of 0 ... 20 mA / 4 ... 20 mA , 14 bit resolution).

•Integrated reference supply voltage of ± 10 V (10 mA max.), to supply set point potentiometer or

actual value transducer.

•Four storable and adjustable digital set points (one additional point is optional)

•Two, independent, analog set point inputs with 14 bit resolution and a high adjustment range

(depending on input 0 ... 12 V or 0 ... 20 mA / 4 ... 20 mA).

•Direction externally set through “+“ and “-“ inputs.

•Enable signal for output stages.

•Ramp function and Reset-Ramp for fast ramp function zeroing.

•Status outputs: Error and Comparator

•All digital inputs and outputs are optically isolated for functional security.

•Four 7-segment displays and six buttons for display and functionality ease.

•Function indication through front panel by LEDs.

•Additional switching output (24 V, max 1A) to directly disable safety valve.

•Additional front panel test jacks for easy commissioning.

•Serial interface RS232.

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Function

Fig. 1 shows an EATON swash plate pump in W design with proportional valve adjustment

displacement control SP. The ER9.3-10 card measures the actual position of the swash plate using a

swash plate sensor, compares the swash plate angle with the set value, and drives a VickersÒ

proportional valve (KDG4V-3). The valve ports are connected to the servo cylinder of the pump. The

position of the swash plate angle, the displacement and the pump outlet flow are proportionally

changed to the set value. In the static state condition (i.e. set value is equal to actual swash plate

angle) the valve spool is in middle position. If the set value is changing, the valve is working until the

desired value is reached.

Swash Plate

Sensor

Proportional Valve

Vickers KDG4V-3

Servo Cylinder

Yoke

Solenoid A

Solenoid B

Set Value

SP1 SP2 SP3 SP4

RP0 IO1 IO2 IO3

ER9.3-10

Swash Plate Angle

-100

100

-10 0 10

Set Value U/I

-100 % +100 %

-100 %

+100 %

Fig. 1: Function of SP-Control

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Technical Data

Parameters Range, characteristics

Supply voltage DC 18 ... 30 V, residual ripple < 10%

Solenoid systems selection 0.8 A / 1.1A / 1.3 A / 1.6 A / 2.4 A / 2.7 A / 3.5 A

Power input Max. 50 VA

Applicable fuse (quick) 3.15 A

Auxiliary voltage ±10 V, max. load 10 mA.

Control voltage for external

recallable set point 24 V ±10%, residual ripple ≤10%

current input ≤20mA each

Ambient temperature 0 °C ... 50 °C(other range on request)

Storage temperature - 20 °C ... 60 ° C

Plug connection DIN 41 612, 48 pol. form F gold plated

EMC

Protection Burst on wires as per EN 61000-4-4

HF-Field as per EN 61000-4-3

ESD as per EN 61000-4-2

Emissions Emissions depending on power as per EN 50011

Radiated emissions as per EN 55011

Additional Certifications

Vibration All directions as per DIN EN 60068-2-6

Shock All directions as per DIN EN 60068-2-27

Dimensions

Front panel/ PCB 50,5 x 128,4 mm; 10 TE / 3 HE / 100 x 160 mm Euro format

Input signals

Analogue set values 1 input, differential 14 Bit resolution, 0 ... ±10 V

1 input, single ended 14 Bit resolution, 0...±10 V

1 input, single ended 14 Bit resolution, 0 or 4...20 mA

Analogue feedback

(sensor input) 1 input, 14 Bit resolution, 0... ±12 V, 0...20 mA / 4...20 mA, Offset: 3..10

V, Gain: ca. 0 ...14 (R=100 Ohm)

1 input, 14 Bit resolution, 0... ±10 V

Digital inputs 8 inputs, voltage level 0 V / 24 V 10 mA

(Set point S1.01 ... S1.04, ENABLE, RAMP 0 , SIGN + , SIGN -)

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Parameters Range, characteristics

Output signals

Solenoid current 2 output stages for up to 3.5 A; with over-energization and quick de-

energization

Analog output 1 output, 12 Bit resolution, 0 .. ±10 V for controlling subsequent

electronics

Monitor output 1 output, 12 Bit resolution, 0 ... ±10 V; for monitoring internal values

Digital outputs 2 outputs, voltage level 0 V / 24 V,

10 mA (Error, Comparator)

Test jacks Solenoid current, sensor 1, set value, monitor and GND

Auxiliary voltage ±10 V, max. load 10 mA

Interface RS232 with 9-pol Sub-D connector on front panel and a second

connector is available on the back

Display and operation 4 digit display, 6 buttons (up, down, left, right, enter and Esc)

Status-LED’s: PW (Power), ER (Error), EN (Enable), SP1 ...SP4 (S1.01

... S1.04), RP0 (Ramp = 0),

Frequencies and cycle times

PWM Frequency 18 kHz

Cycle times Current controller ca. 0,22 msec

Inner closed loop controller ca. 0,22 msec (for valve feedback)

External closed loop controller 2 ca. 0,44 msec

Table 1: Parameters of digital controller card ER9.3-10

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Pin Assignment on Back Connector X1

Table 2 shows the pin assignment on the 48 pin connector of card holder HC000000315303. Values

in brackets {} have no function in proportional valve adjustment displacement control mode (SP). The

wiring scheme, necessary for SP-Control is shown in Fig. 7. Additional wiring, e.g. to use monitoring

function, can be done optional by customer.

Pin d b z

20 V (External) DIO 1 (S1.08 if

activated) - Sign (direction) digital set

values

4Digital set value 2 (S1.02) {DIO 2 / Channel-B} + Sign (direction) digital set

values

6Digital set value 3 (S1.03) {DIO 3 / 0-Pulse} Digital set value 4 (S1.04)

8ENABLE (DI 1) Reserved Digital set value 1 (S1.01)

10 Sensor 1 (FB 1) UE, IEAnalog output {RxD (RS232)}

12 Analog set value 6 UE+

(S1.06) {TxD RS232} Analog set value 5 UE+

(S1.05)

14 ERROR (DO 1) COMPARATOR (DO 2) {Sensor 2 (FB 2) UE}

16 Analog set value 6 UE-

(S1.06) {reserved} Analog set value 7 IE(S1.07)

18 Digital GND PE Ramp = 0 (DI 2)

20 Reference output - 10.0 V Break output 24 V / 1 A Reference output + 10.0V

22 Solenoid output A - Solenoid output A - Solenoid output A -

24 Solenoid output B - Solenoid output B - Solenoid output B -

26 0 V (Power) 0 V (Power) Analog GND

28 Solenoid output A + Solenoid output A + Solenoid output A +

30 Solenoid output B + Solenoid output B + Solenoid output B +

32 + 24 V (Power) + 24 V (Power) 24 V (External)

Table 2: Pin Assignment 48 pin connector

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Display and Keypad

SP1 SP2 SP3 SP4

RP0 IO1 IO2 IO3

ER9.3-10

SP1 SP2 SP3 SP4

RP0 IO1 IO2 IO3

ER9.3-10

RIGHT

LEFT

ENTER

ESC

Status LED‘S

Status LED‘S+ / -

DOWN

Interface RS232

Diagnose

Connector for

2 mm Plug

Solenoid A

Rampe deactivated

Power

Error

Enable

Display 4-Digit

7-Segments

Solenoid BSetpoint

Actual

Value

Ground Displayparameters (d1.01 - d1.13)

Status-LED‘s for

Digital Setpoints

S1.01 - S1.04

Status-LED

Digital Setpoint

S1.08 Not used

Fig. 2: Display and keypad

Fig. 2 shows the front face of the ER9.3-10 card. The function of these elements is described in

Table 3. The sockets “A” and “B” can be used to measure the solenoid currents independently. The

voltage is approximately 1V at 1A. The analogue set point “S1.06” can be measured at the socket

“SET”. The representation is 1:2 proportional to the measured value (half the set point voltage). At the

socket “FB1” the actual analog feedback value (d10) can be measured. The reading is proportional to

the actual value and has the relation of 1:2.

Element Function

Status LED’s display the status and signals Power, Error, Ramp zeroing and digital I/O

±LED’s display the set point direction through polarity signs for parameters and measured values

Display 4-digit display of parameters and measured values

Buttons UP,

DOWN, LEFT,

RIGHT, ESC and

ENTER

all operating, programming and saving may be performed with the buttons UP, DOWN, LEFT,

RIGHT, ESC and ENTER

Serial interface RS232 - programming and accessing parameters via PC, communications to machine, or

from amplifier to amplifier

Measuring and

test jacks Direct measurement of set point (SET), actual value (FB1), solenoid currents (A and B) and

internal values via the monitor output. (d1.01 ... d2.13) (Use 2 mm sockets)

Table 3: Function of display components

ATTENTION

The electrical wiring must be checked before switching on the supply voltage. Limit

switches and safety devices must be activated to avoid uncontrolled movements.

Carefully follow relevant safety regulations. Suitable emergency stop measures must

be taken.

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Setting of Parameters

The digital controller and amplifier ER9.3-10 has a display and keypad to change the card parameters.

Additionally, it is possible to change the card parameters using the enclosed ER9.3-Tool with a PC via

the RS232 serial interface on the front.

Setting of Parameters Using the Keypad

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