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Digital Z-BM-TEZ/LEZ Axis Cards with Driver Functionality DIN-Rail Format, for Position and Force Controls

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Digital Z-BM-TEZ/LEZ Axis Cards with Driver Functionality DIN-Rail Format, for Position and Force Controls Table GS330-2/E Digital Z-BM-TEZ/LEZ axis cards with driver functionality DIN-rail format, for position and force controls Z-BM-TEZ/LEZ Digital axis cards ቢ perform the driver functions for proportional valves plus the ባ position closed loop control of the linear or rotative actuator to which the proportio- nal valve is connected. Z-BM-TEZ execution controls direct and pilot USB ቤ T-000 operated directional valves with one LVDT F E D 0123456789 1 2 3 4 1 2 3 4 PW ቩ 1 2 3 4 transducer. -15V -15V +15V ST +15V AGND AGND LVDT_L LVDT_T SOL_S1- SOL_S2- SOL_S1+ SOL_S2+ L1 L2 L3 Z-BM-LEZ execution controls directional pilot www.atos.com made in Italy Z-BM-TEZ-NP operated valves with two LVDT transducers. The controlled actuator has to be equipped 0123456789 P_MONITOR ENABLE F_MONITOR FAULT P_INPUT+ INPUT- F_INPUT+ EARTH V+ V0 VL+ VL0 with transducer (analog, SSI or Encoder) to 1 2 3 4 1 2 3 4 1 2 3 4 A B ቢ C Z-BM-LEZ-NP-05H 10 read the axis position feedback. The axis card can be operated via an exter- nal reference signal or automatic cycle, see section 4 . ባ A force alternated control may be set by Z-BM-TEZ- Not Present NP software additionally to the position control: a pressure/force transducer has to be assem- bled into the actuator and connected to the axis card; a second pressure/force reference signal is required. Atos PC software allows to customize the axis card configuration to the specific appli- USB ቤ USB ቤ cation requirements. PW PW ST ST Electrical Features: L1 L2 L3 L1 L2 L3 ባ Z-BM-TEZ-EH Z-BM-TEZ-BC • up to 11 fast plug-in connectors OUT ቧ • Mini USB port always present 0123456789 0123456789 CANopen ብ and ቦ ETHERNET • DB9 fieldbus communication connector ብ IN ቨ for CANopen and ቦ PROFIBUS DP • RJ45 ethernet communication connectors ቧ output and ቨ input for EtherCAT, POWERLINK, EtherNet/IP, PROFINET • 8 leds for diagnostics ቩ (see 8.1) EH EtherCAT • Electrical protection against reverse pola- rity of power supply Z-BM-TEZ- BC CANopen Z-BM-TEZ- EW POWERLINK BP PROFIBUS DP EI EtherNet/IP • Operating temperature range: -20 ÷ +50 °C EP PROFINET RT/IRT • Plastic box with IP20 protection degree and standard DIN-rail mounting • CE mark according to EMC directive Software Features: • Intuitive graphic interface Position Alternated Internal Control Control P/Q Reference • Internal generation of motion cycle • Setting of axis dynamic response (PID) to DVD Z-SW-FULL Programming Software optimize the application performances Real-time Enhanced USB • Setting of valve’s functional parameters: Fieldbus Diagnostic port Reference Z-SW-FULL bias, scale, ramps, dither programming software • Linearization function for hydraulic regulation • Complete diagnostics of axis status • Internal oscilloscope function ባ Connectors included • In field firmware update through USB port 1 MODEL CODE Z-BM - TEZ - NP - 01H / * * / * Off-board electronic axis card in DIN rail format Set code (see section 9 ) TEZ = digital full driver + axis card, for valves with Series number one LVDT transducer LEZ = digital full driver + axis card, for valves with two LVDT transducers Options, see section 3 : A = max current limitation for Ex-proof valves C = current feedback 4 ÷ 20 mA for LVDT transducers, Fieldbus interface, USB port always present: only in combination with option A NP = Not Present BC = CANopen EW = POWERLINK BP = PROFIBUS DP EI = EtherNet/IP 01H = for single solenoid proportional valves EH = EtherCAT EP = PROFINET RT/IRT 05H = for double solenoid proportional valves (only for TEZ) GS330 2 BLOCK DIAGRAM EXAMPLE Fieldbus network Machine central unit Z-SW-FULL software Z-BM-TEZ-NP-01H 10 G H I 4 3 2 1 4 3 2 1 4 3 2 1 0V VP CLOCK- CLOCK+ NC NC DATA- DATA+ NC AGND P_TR +24V VP LVDT_T transducer /R /B /A R B A Proportional valve made in Italy www.atos.com Solenoid power PWM VF +24V VF +24V F_TR1 F_TR2 AGND AGND NC NC Pressure / Force feedback 4 3 2 1 4 3 2 1 0123456789 K J T-000 Position feedback Hydraulic actuator Note: block diagram example for alternated position/force control, with fieldbus interface 3 VALVES RANGE Valves Directional Industrial DHZO-T, DKZOR-T DLHZO-T, DLKZOR-T DPZO-L Tech table F168 F180 F178 Ex-proof DLHZA-T, DLKZA-T - - Tech table FX140 Axis card model Z-BM-TEZ Z-BM-LEZ 4 POSITION CONTROL 4.1 External reference signal Axis card controls in closed loop the actuator position according to a External reference signal reference signal from the machine central unit. Position profile can be managed in two ways (software selectable): Analog (c) or Fieldbus (d) reference - Without trajectory generation (a): the axis card receives from the Machine USB machine central unit the reference signal and follows it at any central unit PW ST given instant L1 L2 L3 Z-BM-TEZ-EH - With trajectory generation (b): the axis card receives from the OUT 0123456789 ETHERNET machine central unit just the final target position and internally IN generates a position profile limiting acceleration, velocity and M deceleration The reference signal can be software selected between Analog refe- Without trajectory generation (a) With trajectory generation (b) rence (c) and Fieldbus reference (d). position position Refer to the axis card user manual for further details on position con- trol features. t t reference signal reference signal position feedback position profile position feedback 4.2 Automatic cycle Axis card controls in closed loop the actuator position according to an Automatic cycle internally generated automatic cycle: only start, stop and switch-over commands are required from the machine electronic central unit by Machine central unit means On-off commands (e) or Fieldbus commands (f). On-off (e) or Fieldbus (f) commands Atos PC software allows to realize an automatic cycle according to the USB application requirements. Refer to the axis card user manual for further Speed profile generated PW ST details on automatic cycle features. L1 L2 L3 Z-BM-TEZ-EH OUT 0123456789 ETHERNET IN pos M switch-over points 5 ALTERNATED POSITION / FORCE CONTROL The alternated pressure or force closed loop control can be added to the actuator ቢባቤብforward force backward force standard position control, requiring one or two remote transducers (pressure or movement control movement control force) that have to be installed on the actuator, see below functional schemes. The position/force controls are operated according to two separate reference signals and a dedicated algorithm automatically selects which control is active time speed profile generated by time. The dynamics of the switching between the two controls can be regulated thanks to specific software setting, in order to avoid instability and vibrations. t Position control is active (see phase and at side) when the actuator force is lower than the relevant reference signal - the valve controls the actuator position by force reference value closed-loop regulation. actual value Force control is active (see phase ባ and at side) when the actuator actual force, measured by remote transducers, grows up to the relevant reference signal - the t axis card reduces the valve’s regulation in order to limit the actuator force; if the force tends to decrease under its reference signal, the position control returns active. Alternated control configurations - software selectable SF SL M M L USB USB PW PW ST ST L1 L2 L3 P L1 L2 L3 Z-BM-TEZ-EH Z-BM-TEZ-EH OUT P OUT 0123456789 ETHERNET 0123456789 ETHERNET IN AB IN AB T T PT PT two remote pressure transducers have to be installed on the actuator’s ports; one load cell transducer the actuator force is calculated by the pressure feedbacks (Pa - Pb) has to be installed between the actuator and the controlled load T valve’s spool transducerM actuator’s position transducerP pressure transducerL load cell SF – position/force control Adds force control to standard position control and permits to limit the max force in two directions controlling in closed loop the delta pressure acting on both sides of the hydraulic actuator. Two pressure transducers have to be installed on both hydraulic line. SL – position/force control Adds force control to standard position control and permits to limit the max force in one or two directions controlling in closed loop the force performed by the hydraulic actuator. A load cell has to be installed on hydraulic actuator. General Notes: - servoproportional type DLHZO, DLKZOR and DPZO-L are strongly recommended for high accuracy applications see tech tables F180, F175 - auxiliary check valves are recommended in case of specific hydraulic configuration requirements in absence of power supply or fault, see tech table EY105 - for additional information about alternated P/Q controls configuration please refer to tech table FS500 - Atos technical service is available for additional evaluations related to specific applications usage 6 APPLICATION EXAMPLES Hydraulic steering wheel in marine applications Position control Rudder controls on motor yachts and sail boats requires smooth control Position for precise and reliable operations. USB PW ST Z-BM-TEZ/LEZ axis cards perform the rudder position control system, L1 L2 L3 Z-BM-TEZ-EH M ensuring accurate and repetitive regulations for a comfortable ride, OUT 0123456789 ETHERNET IN thanks to: t - analog position reference mode for real time controls - analog position transducer for simple and compact solution - position PID control parameters to optimize the system response - complete diagnostic information for advanced system monitoring AB T PT GS330 Wind turbines Position control The pitch control of the rotor blades is required to maximize the energy Position production.
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