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Getting Started - Digital Control Valves - Series D636 to

1. gt Do Set the bit 4 in the ControlByte of the Output SyncManager SM to enable the PDO 2 watchdog Therefore edit the ESI file D D o lt Devices gt lt Device Physics YY gt gt Type ProductCode ProductCode RevisionNo RevisionNumber gt Name Leld 1033 gt ModelNumber lt Name gt URL I CDATA http vwww moog com industrial URL lt GroupType gt HydraulicValves lt GroupType gt lt Fmmu gt Outputs lt Fmmu gt lt Fmmu gt Inputs lt Fmmu gt lt Sm MinSize 40 MaxSize 1486 De ze 50 StartAddress x1800 Sm MinSize 40 MaxSize 1486 Defaut ze 50 StartAddress scd COD Sm StartAddress 1000 ControlByte 54 Enable 1 gt Outputs lt Sm gt U Sm Start ddress x1 100 ControlByte 20 Enable 1 gt Inputs lt Sm gt lt RxPdo Fixed 1 Sm 2 gt E TI lt Index gt x1600 lt Index gt o0 oa Figure 47 Editing the ESI file OT oc 505 Do o Update the ESI file in the TwinCAT System Manager c Chap 10 2 1 Exchanging an existing valve in the network configuration page 78 Check o Stop the PLC application program and with this the PDO transmission The watchdog with the p corresponding error reaction is triggered the corresponding bit in the FaultReaction Status D index sub index 0x2831 04 is set and the valve status word switches to the configured state gt FAULT_HOLD or FAULT DISABLED E t
2. E nene Ea a Figure 28 CANopen network with Moog MSC II configuration Do Select Fenster Bibliotheksverwaltung weitere Bibliotheken CAN lib or select all libraries OINIEAON 10 1 1 MSC CANopen stack documentation The CAN interface of the MSC is documented in C Program Files x86 MACS 3 3 MACS Documents CoDeSysDoku German CANopen fuer 3S Laufzeitsysteme V2 3 5 O pdf o duiex3 e pl z to zt 5 2 7 Application Instruction DCV CDS45379 en Version August 2015 70 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master 10 2 EtherCAT network configuration with TwinCAT master gt Do The model specific ESI configuration file for the valve with certain model number e g D672 E5704 0001 xml and the corresponding CANopen eds file must be copied to the following directories This has to be done before starting the TwinCAT System Manager ESI file e g D672 E5704 0001 xml gt C TwinCAT lo EtherCAT EDS file e g D672 E5704 0001 eds gt C TwinCAT lo CANopen Do not confuse the model specific ESI configuration file which has an XML format i with the MoVaCo B9922x DVOxx 211 xml configuration file which also has an XML format gt Do The model specific ESI configuration file for the valve with certain model number e g D672 E5704 0
3. spoclNofPresure QT rs 16000 splval s s E prsval T5ms 10 Sek CM TRIANGLE 1 Lade Biblion Lade Bibliot ada Bihlintha lt T Tage Loca i27 25525511 1 Lace 1 MEET X S95 269 Element Recheck ONUNE UE LESEN Figure 35 Appending a PLC project Application Instruction DCV CDS45379 en Version August 2015 74 e pl 9 e 2 m x D 3 D Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master Do Open the PLC configuration tree and have a look on the globally defined PLC application parameters which can be used for cyclic communication with the slave device via PDO Access of non cyclic data transfer e g service data will be explained below uonejjejsuj BA 899226 NeueXML tsm TwinCAT System Manager B Low Eile Edit Actions View Options Help Desa Sl Qm 4B 3 94 8085 sQ mte eu c BB SYSTEM Configuration SB PLC Configuration HEC MoogValve langsamer Task la Moogvalve langsamer Task Proze abbild B Standard Path C ATwinCAT S amples splset_splvalMoogValve langs Change Qf Eing nge a a ST splval n h OT prsval 1 MEIST gt l Ausg nge Post dl Spoolset Target System x86 140 at Task Begin Prsset DL ctlwrd i Bl 1 0 Configuration Project Moo
4. i Baugruppe re en u n GSD Datei Typdetei MOOGO7F4 GSD E ISA py Eigenschaften PROFIBUS Schnittstelle DIV 3 ow Allgemein Parameter Teinehmer Mastersystem pone E oz opu PROFIBUS B R PMsn bertragungsgeschwindigkeit 1 5 Mbit s mem Subnetz ht vernet Neu Eigenschaften Figure 52 Configuring the Node ID W FREEZE4 hig IV Ansprech berwachung 2 oy Y O 3 zv 5 Application Instruction DCV CDS45379 en Version August 2015 85 Getting Started Digital Control Valves 10 Example applications with different network masters Profibus S7 Siemens m Do Configure the Node ID in the valve using the MoVaPuCo File Network Data Format Window Tools Help x DO tele 2 EA X Es Communication Application Controler interface Diagnosis Store Restore Infomation Device Control PROFIBUS DP Setpoint Input via Bus 1 y Control Standard Telegrams Signals User defined Telegrams Spool Control Closed Loop 2 y Device Identification m m s Spool Postion Pressure d uc E Closed mao qe Power On a wo EE actualnode ID 4125 vie CU ON e o modis sen L e Demand 00000 VendoriD EM Baud Control Global Command Value 0 0000 Identity Object 40 Deviation 0 0000 Vendor ID 440 Bus Product Code 50 WAIT PAM l Local Revision Number a 0 E Controlword via Bus Ser
5. A lt d hs Ia NN j P y y 4 KJ Bh E 0 CN C x J 1 gt Ul al WM gt Lo Version August 2015 COMMISSIONING INSTRUCTION FOR DIGITAL CONTROLLED MOOG SERVO VALVES WITH FIELDBUS INTERFACE MOOG WHAT MOVES YOUR WORLD Copyright 2015 Moog GmbH Hanns Klemm Stra e 28 71034 Boeblingen Germany Telephone 49 7031 622 0 Fax 49 7031 622 191 E mail info moog com Internet www moog com Industrial DCV amp ACV products www moogsoftwaredownload com All rights reserved No part of this document may be reproduced in any form print photocopies microfilm or by any other means or edited duplicated or distributed with electronic systems without our prior written consent Offenders will be held liable for the payment of damages Subject to change without notice The information contained in this Application Instruction is valid and correct at the moment of release of this version of the user information The version number and release date of this user information are indicated in the footer Changes may be made to this user information at any time and without notice Completeness This document is complete only when used in conjunction with the product related hardware and software documentation required for the relevant application as for example operating instructions of the valve and other manuals Selection and qualification of personnel As specified in the produ
6. suonesiddy jeioeds Table 3 CANopen network states EtherCAT network states INIT Default state after power on No SDO a cyclic communication No PDO cyclic communication Master can write info register PRE OPERATIONAL Network communication initialized No PDO cyclic communication SDO a cyclic communication enabled sonsoubeiq SAFE OPERATIONAL SDO a cyclic communication enabled PDO cyclic communication gt just inputs outputs are in SAFE state OPERATIONAL SDO a cyclic communication enabled PDO cyclic communication gt inputs and outputs Table 4 EtherCAT network states OINIENON suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 19 Getting Started Digital Control Valves 3 Introduction Fieldbus NMT and Device State Machine DSM Device State Machine DSM 3 2 Device State Machine DSM The valve has a state machine controlling and reflecting the actual operational state of the valve This state machine is controlled by the lt ControlWord gt to activate and deactivate the valve The actual state of the device is notified in the lt StatusWord gt Module Status MS LED uone ejsu Valve Application State Machine 1 1 MZ SEE TA MN N 17 TN ON 7 TRO IN mc m Blinking u NOT READY y TRI TIN INIT y FAULT INT Wm state RMHD 1000 4 7514 state RMHD 0000 C
7. Table 22 Fieldbus checklist CANopen only part 1 of 2 suoneoi ddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 56 Getting Started Digital Control Valves 8 Diagnostics troubleshooting SDO abort codes Checklist fieldbus CANopen only Problem CANopen A PDO will be received but Check the byte ordering in the PDO 5 the signal shape of the lt spool o position setpoint value 0x6300 00 fo does not look like the setpoint signal D in the PLC controller o Network state will not become PDO configuration data length on master and slave side E OPERATIONAL The type of valve in the node list of the master If applicable deactivate Check Product Type The valves type and revision does match the configured one CANopen SDOs are transmitted but Check the PDO mapping no PDO Monitor process Images PDOs and PDO mapping U Check the NMT state 2 E Check for occurrence of the PDO watchdog timeout oo Check for missing Sync signal ifthe RPOD or TPDO D a lt RPdo2_TransmissionType gt 0x140x 02 was configured for synchronous cr driven transmission 350 Too many TxPDOs have been configured zi A TxPDO is present at the node but no process data has been mapped wl Check that the configured RPDO length matches the received TPDO CANopen slave node has switched Check for RPDO timeout in the parameter preerrfld 0x1003 back from Operational to Pre ep Operational by itself The setp
8. lt DeviceMode gt index sub index 0x6042 0 Setpoint input via Bus The following setpoint sources are effective For spool position lt SpoolPositionSetpoint gt index sub index 0x6300 1 and For pressure lt PressureSetpoint gt index sub index 0x6380 1 7 Lo o s Le ri 9 Er 5 7 Setpoint input Locally The following setpoint sources are effective For spool position The parameter SplSetpointPar index sub index 0x3320 0 points to Per default this is the analog inputO on the g connector X1 e For pressure The parameter lt PrsSetpointPar gt index sub index gt 0x3310 0 points to Per default this is the analog input1 on the 9 connector X1 a Table 11 Device mode values The analog inputs can be configured as voltage or current input The default configuration depends on the valve s type designation For special applications both sources could be mixed and used in parallel In this case the device mode Setpoint input Locally has to be chosen and lt SplSetpointPar gt must point to either Spool o position setpoint value or analogOvalue pressure setpoint or analog1value S a O O suoneoi ddy e duiex4 Application Instruction DCV CDS45379 en Version August 2015 33 Getting Started Digital Control Valves 7 Adaptation to special applications Changing the source of the control word 7 3 Changing the source of the control word As source of the Contr
9. 10 V 0 100 10 10 mA 100 6 0 10 mA 0 100 7 4 20 mA 0 100 8 4 20 mA 100 Parameter name communication address X5 analog input an2val index sub index 0x3214 0 an2typ index sub index 0x3210 0 X6 analog input an3val index sub index 0x321C 0 an3typ index sub index 0x3218 0 X7 analog input an4val index sub index 0x3224 0 an4typ index sub index 0x3220 0 All inputs 0 100 correspond to 0 16384 or 100 correspond to 116384 Figure 14 Analog input interface Application Instruction DCV CDS45379 en Version August 2015 41 uonejjejsuj 04U09 so naq on o S E gt ke p Dd e fo 5 0 snapjelg sonsouBeiq OINIEAON suoneoiddy ejduiex3 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control Analog input 1 Sears lt ActualValue1 gt analog signal en lt gt 0x320C0010 0x 3 a o x y lt PrsSetpointParameter gt HS 04203 2 Setpoint input locally D o Object 0 46 BER ne Telegram PrsSetpoint 1 Setpoint input via the bus field bus selection 22821 lt DeviceMode gt 0 39 ACTIVE HOLD or _ lt PrsHoldSetPoint gt y FAULT HOLD PressuraSetpoint 22 30 gt INIT or DISABLED or FAULT DISABLED Og D lt StatusWord gt 0438 lt 7 oo Figure 15 Pressure setpoint value path D a Oc ORS 5
10. 16 0 1 0 0 96 Status word Spool position act Pressure actual value Table 8 TxPDO_4 data frame Valves with fieldbus EtherCAT have configured this mapping in RxPDO 1 instead of i RxPDO 4 The next steps lead through the configuration of a bidirectional PDO communication Application Instruction DCV CDS45379 en Version August 2015 25 uonejle su Jg O 2 fe 2 se EX a o a toy c 9 suonesiddy jeioeds sonsoubeiq OONdeAOW suoneoi ddy ajduwexy Getting Started Digital Control Valves 4 Fieldbus configuration Cyclic communication PDO Configuration of PDO to be sent from the master to the valve used for valve setpoints p Do On the fieldbus Master configure the Control Word lt ControlWord gt index sub index 0x6040 00 to a TxPDO application parameter according the table above Use the COB ID 0x57F to address the valves RxPDO If the Node ID of the valve has been changed then use 0x500 NODEID as COB ID gt Do On the fieldbus Master configure the spool position setpoint value SplSetpoint index sub index 0x6300 01 to the second TxPDO application parameter according the table above gt Do On the fieldbus Master configure the pressure setpoint value lt PrsSetpoint gt index sub index 0x6380 01 even if you do not need it for your application The length in bytes of the TxPDO in the master must fit to the length of the corresponding RxPDO in the valve
11. 2 2 Service interfaces To access the valve s configuration parameters SDO the following interfaces can be used Local service connector X10 M8 plug The valve s parameters can be accessed via the CANopen SDO Protocol using the MoVaPuCo a qu m D ct o 5 Fieldbus connectors X3 X4 M12 plugs CANopen The valve s parameters can be accessed via the CANopen SDO protocol using the MoVaPuCo Chapter 9 Moog Valve and Pump Configuration Software MoVaPuCo page 66 EtherCAT The valve s parameters can be accessed via the CANopen SDO protocol Therefore the SDO protocol is encapsulated in the EtherCAT mailbox protocol This mailbox can be accessed using TI an EtherCAT mailbox frame with EtherType 0x88A4 or D 2 the mailbox gateway of the fieldbus master This gateway can be accessed using a S a standard Internet UDP TCP frame sent to the port 0x88A4 of the fieldbus master a iE Profibus DP V1 protocol parameter channel YN 2 3 Fieldbus interfaces X3 X4 3 oO Depending on the fieldbus selected the fieldbus cable has to be connected as described in the D following subchapters If no fieldbus is used continue with the following chapter gt c Chapter 2 4 Analog setpoint value interfaces X1 X5 X6 X7 page 15 e 2 3 1 CANopen S o g D a o x o Check s One termination resistor is connected to each end of the CAN bus S gt Do d Switch on the power supply for the valve and th
12. Hinweise Mounting and Installation Notes B97072 670 English D67X Series Servo Manual D671 2 3 4 5 Series Proportional Proportional Valves and Valves and Servo Valves Servovalves Operating Instructions D941 Series C43357 001 English D941 Series pQ Servo Manual Proportional Valves Proportionalventile Baureihe D941 C43357 002 German Serie D941 p Q Manual Proportionalventile Mounting and Installation Notes B97072 941 English D941 Series pQ Servo Manual D941 2 3 4 5 Series Proportional Proportional Valves Valves and Servo Valves Montage und Inbetriebnahme B97072 941 German D941 bis D944 Manual Hinweise Baureihen D941 2 3 4 5 Proportionalventile Proportional und Servoventile Montage Inbetriebnahme Hinweise User Manual D637 R D639 R CA61892 001 English Direct Drive Servo Valves Manual Series D637 and D639 Series Mounting and Installation Notes B97072 636 German Servoventile Baureihen D6636 7 8 9 5 Series Proportional D636 D637 D638 und Valves and Servo Valves D639 Montage und Inbetriebnahme Hinweise Montage und Inbetriebnahme B97072 636 English D636 D637 D638 and Hinweise Baureihen D636 7 8 9 5 D639 Series Servovalves Series Proportional und Servoventile Direct Operated Servo Valves with CDS29587 en English ATEX Direct Drive Digital Integrated Digital Electronics Type and Axis Control Valves Series D636K and D638K Series D636K and D638K ATEX IECEx Size 03 Direktbetatigte Se
13. Spool position control closed loop 2 n Spool position control 2 o Pressure control open loop O EE Used for tests Behaves like a closed loop Q control E 5 Pressure control closed loop a i Pressure force control p Q control In many applications the p Q controller is used as Q controller with pressure force limitation Table 10 Control mode values 7 Lo o s Le ri 9 Er 5 7 ODNAIENOIN sonsoubeiq suoneoi ddy e duiex4 Application Instruction DCV CDS45379 en Version August 2015 32 Getting Started Digital Control Valves 7 Adaptation to special applications Changing the source of the Q setpoint value 7 2 Changing the source of the Q setpoint value As source of the spool position setpoint value either the analog input or the fieldbus interface can 5 be used 2 The factory configuration is given by the 16 place in the valves type designation and can be S chosen by the customer 2 BER sn Der sel 2 val ue rom 0x3204 analog signal ox ox Og mcr EE 2 Setpoint input locally o lt s TN Om Object 0x1600 m BE aa RxPDO Spa lt SplSetpoint gt 1 Setpoint input via the bus OT field bus 0x6300 o 7 lt DeviceMode gt 0x6042 me 2 e HOLD or o _ lt SplHoldSetPoint gt FAULT HOLD 0x6314 SpoolPositionSetpoint e INIT or DISABLED or FAULT DISABLED lt StatusWord gt 0x6041 Figure 9 Changing the Q setpoint value
14. p Network Start Sequence S o Using this feature arbitrary commands can be send during startup ofthe valve from the master to the valve This can be used to parameterize the same hardware with different parameter E b99226 Startup tsm TwinCAT System Manager Cuy Datei Bearbeiten Aktionen Ansicht Optionen 7 g n SO B 59 sv 5 9 xx Deis wer e 0 v y 4 ee Allgemein EtherCAT Prozessdaten Startup CoE Online Online a WD EJA Ger te Transition Protocol Index Data Comment 5 Device 1 EtherCAT so CoE OxB04F 00 O0 1 Device Local etes CE OON Dese Learn 9 besa Mineo fos x ry e gon X Delete P D S toc evo va teat ere ER Edt dl Zuordnungen re amp Print list Ctrl P BE Copy List Ctrl C m 20 ao TA Bor Uist Beret Lokal 127 255 255 1 1 1 MIENTAS Mind the different data length of the parameter lt o S Figure 48 Network start sequence u O o o duiex3 e pl z o zt 5 2 7 Application Instruction DCV CDS45379 en Version August 2015 83 Getting Started Digital Control Valves 10 Example applications with different network masters Profibus S7 Siemens 10 3 Profibus S7 Siemens Figure 49 Copying slave interface description file GSD gt Do p 2 The Profibus master needs a slave interface description file GSD to start up the network o D Therefore the MOOG07F4 GSD file has to be copied to the following directory on the network D mast
15. Application Instruction DCV CDS45379 en Version August 2015 49 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control It is possible to use the integrated pressure transducer of the p Q valve and connect an external transducer to the valve electronics For actual pressure on port B a second input and transducer interface has to be configured and the corresponding interface lt TransducerlInterfaceAreaB gt index sub index 0x230F 01 has to be m La selected y D Capability 16th place in the valves type designation gt Ap pressure p Ps Table 18 Ap control U c lt s TN s O o 0 S 9g S 5 gt Q Valve x electronics Fieldbus communication analog signals 7 Lo o s Le ri 9 Er 5 7 Delta p Q control 7 PLC sonsoubeiq Figure 18 Ap control principle OONdeAOW suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 50 7 Adaptation to special applications Pressure control Getting Started Digital Control Valves 7 9 4 Adjustment of the pressure controller to the application Below a schematic of a simplified pressure controller integrated in the valve is shown The next task in a system commissioning would be tuning the pressure controller pa
16. Application Instruction DCV CDS45379 en Version August 2015 67 uonejjejsuj 0 4U09 a9 naq snapjelg suoneoiddy jeioeds sonsouBeiq suoneoi ddy OINIEAON e duiex3 Getting Started Digital Control Valves 9 Moog Valve and Pump Configuration Software MoVaPuCo Installation of the MoVaPuCo software 9 3 1 Help function of the MoVaPuCo The operation of MoVaPuCo is intuitive but if needed it contains a help function A short introduction is available under the help function as a video These videos can be found on 2 www moogsoftwaredownload com m D E o 2 Externe Eing nge 4 00090 U E c lt T Sollwerte S 2 0 09 4 O S 5 ei ee o Interne Eing nge j Sensoren 0 29 HH a 0 32 _ 9t le MH Le EtherCAT L 1 n ert cO hand E O Pieaoo 000 o Y gt Ausg nge MOOC Ventil und Pumpen Konfigurations Software 2 1 D 3 Figure 27 User interface of the MoVaPuCo with help function o Q D Q o o Oo o OINIEAON suonesiuddy s dwuex3 Application Instruction DCV CDS45379 en Version August 2015 68 Getting Started Digital Control Valves 10 Example applications with different network masters CANopen network with Moog MSC II 10 Example applications with different network masters A m D 10 1 CANopen network with Moog MSC II p Do The CANopen eds configuration file for the valve with certain model
17. PDO Content x1A00 OT Pressure ac 01600 Index Sze Offs Name Gl Outputs 0x6041 00 20 00 Status Word 1 Control We amp 6301 01 20 20 Spool actual value 9 Spool set v x638101 20 40 Pr actual value U Pressure se D 8 mbes s amp B Mappings Download e O S gg Load PDO info from device 9 V PDO Configuration 2 o 7 Figure 44 Editing the PDO list gt Do Activate the configuration by pressing Action Activate Configuration or by a click on the icon O EA lt e 2 The new configuration is transferred to the slave during the transition from PRE OPERATIONAL to SAFE OPERATIONAL using the SDO index 0x1600 0x1A00 o duiex3 e pl z o zt 5 2 7 Application Instruction DCV CDS45379 en Version August 2015 81 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master 10 2 4 PDO receive watchdog The PDO receive watchdog allows to bring the valve into a defined state in case the network connection is broken and with this the setpoint is no longer up to date If a watchdog timeout is 5 detected an application specific fault reaction is initiated a gt Do a Configure the fault reaction 114 EtherCAT rpdo timeout in the valve by setting the E FaultReaction Type 0x2830 sub index 0x73 FAULT HOLD 3 F
18. containing a description of the CANopen object dictionary ESC EtherCAT Slave Controller ESI EtherCAT Slave Information Interface Configuration file EtherCAT Ethernet Control Automation Technology International Electrotechnical Commission Institute of Electrical and Electronics Engineers Inc Input Internet Protocol International Organization for Standardization Light Emitting Diode Module Status Network Status Physical Device Interface device internal interface in a slave node between EtherCAT fieldbus and application Process Data Object Object for data exchange between several devices PHY Physical layer entity sub layer ISO IEC 8802 3 Programmable Logic Controller PRE OPERATIONAL EtherCAT network state AL state SAFE OPERATIONAL EtherCAT network state AL state Service Data Object Peer to peer communication with access to the Object Dictionary of a device Slave Information Interface EPROM in the valve Sync Manager synchronizes the PDO and mailbox communication Transmission Control Protocol one of the core protocols of the Internet User Datagram Protocol one of the core protocols of the Internet RFC 768 Verband Deutscher Maschinen und Anlagenbau e V German Engineering Federation Extensible Markup Language General purpose language combining text and extra information about the text Twisted Pair Ethe
19. lt Vendor gt ld 40 Id lt Name gt Moog lt Name gt lt Vendor gt Algemein EihesCAT Prasessdsten Stat Cc Or ne Onine U Descriptions lt Groups gt Tie Te Ta ve Lim Rae 7 Group lt Type gt HydraulicValves lt Type gt lt Group gt en BE lt TI lt Groups gt eno 50 Dan F CH Devices O0 Device Physics YY o Type ProductCode x00000178 RevisionNo 00000001 Servo Value B6 m a E gt o ne repas FOO Zuera Deich Oc lt Fmmu gt Qutputs lt Fmmu gt Fmm 7 an oc Sm MinSize 40 MaxSize 1486 DelulSize 6 G0 StartAddrEss P1800 Contri mem EX o T gt Outputs Sm au gt Co INT i gt lt RxPdo Fixed 1 Sm 4x O lt Index gt x1600 lt Index gt re uS i Lade POO inio ous dem Geral e me Cs me a FOO Kaipaan Sync Und Zucsdnung ntry lt Index gt x6040 lt Index gt Je gt lt Sublndex gt 0 lt Subinde Beret lokal 127 255 255 1 1 1 MUI lt BitLen gt 16 lt BitLen gt lt Name gt Control word ctlwrd lt Name gt lt DataType gt UINT lt DataType gt lt Entry gt IRxPdo Mailbox CoE EdsFile D636E205 eds Sdolnfo 0 PdoAssign 0 PdoConfig 1 PdoUpload 1 gt lt Mailbox gt XML file is read during startup of the TwinCAT System Manager Figure 41 Custom defined PDO configuration When changing the PDO configuration there are two methods suoneoiddy jeioeds Change the PDO configuration in the ESI file and consistent with this conf
20. one o OE e eer tete edel ioi tole e or ee c iu 08 iv T pliz o o A A E EAE oaaae eE 1 VA SCOpe Of document eL 1 1 2 General informatlon ai cdas 3 1 3 Typographical CONVENTIONS ccccceseeeeeeeeesneeeeeeeeeeeeeeeeeseeneeseseeseeeeseseseeeeeseseeeneeseeeeseeeeseeeeeeanees 4 1 4 Structure of the warning notes essen nennen nennen nnne inni n tenen nnn nnns 5 1 5 Essential documentation hard and software for commissioning of DCVSs 6 1 6 Further documentation eseeeeeeeeeeeee eee eennnen eren nnnnnn nnn nennen nennt n innen nnn i nna n nennen nennen 8 1 7 DCV Digital Control Valve capabilities eeeeeeeeeeererreneennn nennen nnnm 10 18 eren 11 1 9 p Control bb dette etti aeree ee 11 omen 11 2 Electrical installation cabling eeeeesseeeeeeeeeess 12 2 1 Main connector X1 ein ore ee DE RAE ERE DER I YEN RR XC R Ed ER REGE Hanne KR MEX RREXRNET RE Ei URE 13 2 2 Service a e Ce AA OO 14 2 3 Fieldb s interfaces X3 X4 1 sun nenn reir aaa ne ER a ri Eo nm an a add 14 PASEO sul 14 2322 Colle E 15 2 3 9 BtherGA T iie n vei de i o doch E Re eed edd ne ep eet Load Lt ees ee 15 2 4 Analog setpoint value interfaces X1 X5 X6 X7 uuuusuunsnnnnnannnnnannannannnnnnnnnnnnnnnnnnannannannnnnn 15 2 5 Pressure sensor valve internal optional eeeeee
21. p Do To release the power stage of the valve put a 24 V signal on the Enable Signal pin 3 of connector X1 gt Do Set the lt ControlWord gt 0x6040 to activate HOLD or activate ACTIVE c Chapter 3 2 Device State Machine DSM page 20 Check The valve gets active The lt StatusWord gt 0x6041 changed to ACTIVE The MS LED is blinking or constant green The spool will be controlled by the valve s servo drive random acoustic noise Check uoneljejsu iw o lt n oo oz Oo oc 50 eL o The valve s application is not in FAULT state FAULD HOLD FAULT DISABLED or FAULT INIT 9 c Chapter 3 2 Device State Machine DSM page 20 RU 2 D How to read in a spool position or pressure setpoint locally from a specific source see 2 c Chapter 7 2 Changing the source of the Q setpoint value page 33 S S o g D gt o a Qo s o lt A gt c O O suoneoi ddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 30 Getting Started Digital Control Valves 6 Storing and loading of settings Data storage in non volatile memory of the valve electronics 6 Storing and loading of settings 6 1 Data storage in non volatile memory of the valve electronics In order to permanently save any changes made in the valve s configuration the user should save the parameters This can be done using the MoVaPuCo or the parame
22. 100 100 Controlling pressure in one direction only or limiting max pressure Pressure setpoint value 0 V 10 V or 4 20 mA Odec 16384 ec 0x6380 01 22 21 0 100 0 214 Pressure actual value 0x6381 01 22 144 0 100 96 Table 17 Pressure control setpoint and actual value ranges Application Instruction DCV CDS45379 en Version August 2015 40 uone ejsu o31u02 eoi eq 7 Lo o s Le ri 9 Er 5 7 snapjelg sonsoubeiq OONdeAOW suoneoi ddy e duiex3 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control 7 9 1 Pressure setpoint value Make sure the spool position and pressure setpoints are received via fieldbus or analog Fieldbus valves Do Select the PDO mapping telegram selection with pressure setpoint gt Do Select the device mode index sub index 0x6042 00 1 for input via bus Check Read out the received pressure setpoint index sub index 0x6380 01 e g by using the MoVaPuCo Analog driven valves gt Do Select the analog input type for analog input 1 to read in the pressure setpoint analog input type index sub index 0x3208 0 The following types are available Connector no X5 X6 X7 M8 4 pin Description Analog input interface lt InputType gt index sub index 0x3210 0 Value range Potential free Grounded 10 V 100 9 0
23. 211 e 5 7 Lo o s Le ri 9 Er 5 7 ODNAIENOIN sonsoubeiq suoneoi ddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 44 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control 7 9 2 1 Example of configuring an analog pressure actual value transducer The following example describes how to configure the transducer interface to connect an analog pressure sensor 4 20 mA potential free 400 bar Therefore we connect the external pressure zi transducer to the valve s analog input X5 and use the transducer interface 1 E For supported transducer types signal and wiring see D c User Manual Electrical Interfaces CA63420 001 Chapter 4 Electrical Interfaces X1 X5 X6 e X7 X10 c User Manual Firmware CANopen or EtherCAT Chapter 6 3 Actual value transducer interface gt Do Analog interface set the analog input type of X5 DIV Analoguelnput2 InputType Og index sub index 0x3210 00 to 4 20 mA potential free value 5 E cn o o gt Do U mm Switch on the supply power 24 V of the valve S e 2f Check o You should be able to read the actual pressure value on the output of the analog input conditioning lt ActualValue2 gt index sub index 0x3214 00 gt User Manual Firmware Chapter 6 4 3 Analog input 2 gt Do o Select internal transducer Interface 1 to be configured Set the lt Interfac
24. 48 1 10 pQ Control The valve is able to control spool position while limiting the pressure p in port A It is also possible to use the p Q controller together with Ap control Details about this control mode c Chap 7 9 3 Control mode p and p Q control page 48 Application Instruction DCV CDS45379 en Version August 2015 uonelrejsul 104U09 eoi eq snapjelg suonesiddy jeioeds sonsoubeiq OONdeAOW suoneoi ddy ajduwexy Getting Started Digital Control Valves 2 Electrical installation cabling 2 Electrical installation cabling Danger of personal injury and damage to property due to unexpected or accidental operation Plug in the valve connectors in the state of configuration or maintenance of the valves might lead to an uncontrolled and or unpredictable operational sequence of actuators or of the overall machine Before plug in valve connectors make sure the machine and hydraulic pump is off the a qu m D o hydraulic system is depressurized the accumulators are unloaded i e contain no oil and the actuator cannot move due to external loads p ES gt If automatic control technology is to be used the user should in addition to all the potentially oo available standards or guidelines on safety engineering installations consult the D manufacturer of the components used in great depth o o X10 Service Connector X1 Main Connecto
25. Check Product Type Table 24 EtherCAT checklist part 2 of 2 61 uone ejsu oJ1u02 eoi eqg snapjelg suonesiddy jeioeds 0 Q 2 o 7 o 7 OINIENON suonesiddy ajduwexy Getting Started Digital Control Valves 8 Diagnostics troubleshooting Diagnostics troubleshooting valve application 8 4 Diagnostics troubleshooting valve application The valve error handling and fault configuration together with the Device State Machine are providing exact information on both valve internal problems such as problems on the interfaces 2 feedback command actual value valve internal or external cable break power supply voltage y failure and fieldbus communication related issues etc The fault maybe also be caused by lack of D supply pressure at port P of the separate pilot port 9 Fault indication Fault states are indicated on different ways Status Word Ready bit of index sub index 0x6041 0 representing the state of the valves DSM oO Module status LED MS and network status LED NS see 2 ET c User Manual Electrical Interfaces CA63420 001 Chapter 5 Status display o a Error output signal on pin 11 of X1 in case of an 11 PE connector 0 V error active Device State Machine is in one of the FAULT states or NOT_READY 39 24 V no error Device State Machine is in INIT DISABLED HOLD or ACTIVE e CANopen emergency message A summary of the errors can
26. Control Valves with Profibus Interface Firmware B99225 DV016 B 21 1 CDS33854 en English Digital Interface Valves with Profibus Interface Firmware Manual Manual Benutzerinformation Elektrische Anschl sse CA63420 002 German Elektrische Anschl sse Manual User Manual Electrical Interfaces CA63420 001 English Electrical Interfaces Manual Zul ssige L ngen f r elektrische Anschlussleitungen von Hydraulikventilen mit integrierter Elektronik CA48851 002 German TN 494 Zul ssige L ngen f r elektrische Anschlussleitungen von Ventilen mit intgreierter Elektronik Technical Note Maximum permissible lengths of electric cables of hydraulic valves with integrated electronics CA48851 001 English TN 494 Maximum Permissible Length of Electric Cables for Valves with Integrated Electronics Technical Note Technical Note TN353 Protective Grounding and Electrical Shielding of Hydraulic Valves with Integrated Electronics Application Instruction DCV CDS45379 en Version August 2015 CA58437 001 English TN 353 Protective Grounding and Electrical Shielding of Valves Table 1 Further documentation part 2 of 3 Technical Note uonelrejsul 104U09 eoi eq snapjelg suonesiddy jeioeds sonsoubeiq OONdeAOW suoneoi ddy ajduwexy Getting Started Digital Control Valves 1 Introduction DCV Digital Control Valve capabilities Moog Document Descripti
27. DCV CDS45379 en Version August 2015 21 Getting Started Digital Control Valves 4 Fieldbus configuration 4 Fieldbus configuration This chapter shows how to configure the fieldbus communication between the valve and the fieldbus master PLC To use a valve for controlling a machine at least one application program is needed The input and output parameters of this application must be linked to the I O devices like sensors or valves This is done using cyclic communication protocol PDO The parameterization of this PDO protocol is done using the SDO protocol uone ejsu For the following configurations the Valve Configuration Software provides assistance with a graphical user interface Even though all configuration can be done by just using the SDO protocol Details on how to connect the MoVaPuCo to the valve c Chapter 9 Moog Valve and Pump Configuration Software MoVaPuCo page 66 iw o lt n oo oz Oo oc 50 eL o OINIENOWN sonsoubeiq suoneoiddy jeioeds suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 22 Getting Started Digital Control Valves 4 Fieldbus configuration Configuration files 4 1 Configuration files gt Do Make sure the correct configuration files are available for configuring the fieldbus master Therefore please visit Moog webpage www moogsoftwaredownload com section Configuration Files for BUS master Depending on the fieldbus
28. Flags Index Size Name S Device 1 Image 0 60 Mbiut Ox1A00 60 Inputs Device 1 Image Info 1 80 Mbin Ox1600 60 Outputs amp Qt Inputs 2 B Outputs l Outputs 3 6 Inputs InfoData amp Box 1 Servo Valve D672 E5704 0001 S I Inputs lt 2 amp B Q1 Status word stswrd PDO A t 0x1C12 PDO Content 0x1 600 91 Spool actual value splval Sd A A OT Pressure actual value prsval 01600 Index Size Offs Name l Outputs 0504000 20 00 Control word ctv 1 Control word ctlwrd 0 630000 20 20 Spool set value Spool set value splset 04638001 20 40 Pressure set valu Pressure set value prsset amp 0 Y Westate gt InfoData DON i f Mappings i Load PDO info from device PDD Assignment Sync Unit Assignment Y PDO Configuration lt gt Ready Local 127 255 255 1 1 1 EMELE Figure 33 Process Data Objects PDO mapping Application Instruction DCV CDS45379 en Version August 2015 73 sonsoubeiq suoneoiddy jeioeds ME uonejeisu OINIEAON o duiex3 e pl z o zt 5 2 7 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master gt Do Link an application PLC program to the network DIVVISU MOOG 00 ee dea Valve s T ms 10Sek E s H iGred Celsius TRIANGLE POS Ue SAWTOOTH RISE E SAWTOOTH FALL i RECT
29. Technology This set of predefined mappings is fixed but can be adapted by Moog The standard telegram is depending on the control mode e g for a p Q valve the standard telegram is 5 Profibus lt TelegramSelection gt Module name I O telegram content 3 4 5 6 Spool position Std Tel 3 Q Par Chn Parameter channel Std Tel 4 Q Control word Control word Spool position Std Tel 5 p Q Par Chn Parameter channel Control word Pressure Spool position Std Tel 6 p Q Control word Pressure Spool position MOOG Tel 100 p Par Chn Parameter channel Control word Pressure MOOG Tel 101 p Control word Pressure Table 16 Profibus data telegram selection Application Instruction DCV CDS45379 en Version August 2015 38 uone ejsu o31u02 eoi eq 7 Lo O E e ri 9 Er fe 2 7 snapjelg sonsoubeiq OONdeAOW suoneoi ddy e duiex3 Getting Started Digital Control Valves 7 Adaptation to special applications Event handler 7 6 Event handler The event handler allows calculating values for special tasks depending on internal and external parameter values This allows implementing elementary free programmed application dependent functionality Events can also be used to initiate application and communication functions in order to automate control tasks uone ejsu For more details see c User Manual Firmware Chapte
30. The DRIVE transducer interface output index sub index 0x6204 01 corresponds to the setpoint sent by PDO p Do In the pressure controller select the pressure signal source by setting the DIV ValvePressureControl PressureControllerActiveTransducerlnterface cmpprsitf index sub index 0x230D 01 to interface 1 User Manual Firmware Chapter Pressure Controller subchapter Pressure transducer Y selection O O Check It should be possible to read the actual pressure value on the pressure controller input lt PrsActualValue gt index sub index 0x6381 01 suonesiddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 47 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control 7 9 3 Control mode p and p Q control p control mode The pressure controller p control mode controls the pressure in a hydraulic system which is connected to the valve 2 way pressure control pressure relief functionality 3 way pressure control pressure reduce valve The pressure sensor could be located internally or externally Externally via analog interface or fieldbus interface Which interface sensor is used has to be selected by configuration Hint positive signal of the pressure controller output has to lead to pressure increase in the hydraulic system pQ control mode The device has two setpoint commands one for the pressure p and one for the flow Q The pres
31. coocconnocccccnnocccoconanoncncnonnnoncn cn nano nc n nr nnnnn rca nnne nennen 77 Starting the PLC application ru444444444H4nHnnnnnnnnennennnnnnnnnnnnnnnennnnnannennennnnnrnnennennnnnannnnnnn 78 Custom defined PDO configuration ssessssesseeeeen nennen nennen nnns 80 Process Data taD nannten bp hehe ir libri 80 Editing the POO mapping Ree de 81 Editing the BDO Ils cr oe oto tot Mood e dotes 81 Configuring the fault reaction sssssssssssessseeeneneen nennen nenne nnn nn nnns 82 Setting the SM watchdog time 14 aE eene E 82 Editing the ESI file iia da tn rte tee etie da ra Tre edet etu err dede rai 83 NECE 83 Copying slave interface description file GSD essem em 84 Installing slave interface description file GSD ssseen me 84 Checking slaves list uet RE Red e e EUR aee 85 Configuring the Node ID uro e tir tercer eb bte t aeter en o deren 85 Configuring the Node ID using MoVaPuCo sssssssseeenenen nme ennemis 86 Selecting the telegram oia e ep dide Dm de da dt 86 Application Instruction DCV CDS45379 en Version August 2015 V Getting Started Digital Control Valves 1 Introduction Scope of document 1 Introduction 1 1 Scope of document This application instruction is intended to be used by application and service engineers for initial set up and operation of all Moog valves with digital elec
32. cra konfiguration Status Maschine a Et 3 uud te F Tee Angefordetter Status TOP Yi Inputs Ge m i Outputs InfoData o amp Moog 1 Servo Valve D672 E5704 0001 z a Moog 2 Servo Valve D636E205 dB Zuordnungen ex Port Timestamp Meldung TCIO 300 08 06 2007 11 44 11 237 ms Device 1 EtherCAT Link detected 100 MBaud Y ber Twincar a lt 71 Lokal 127 255 255 1 1 1 METI O o o o 9g S 5 ei jaa y o Droo B Eisenschaften Con Elmwosotero Biersczenem ZONAS 70 ET ANS 11 48 Figure 39 Activating the network configuration a o Q Check Q The network should change into the network state OPERATIONIAL OP v gt oO INIT Default state after power on No SDO a cyclic communication E No PDO cyclic communication o Master can write info register PRE OPERATIONAL Network communication initialized No PDO cyclic communication SDO a cyclic communication enabled SAFE OPERATIONAL SDO a cyclic communication enabled D PDO cyclic communication just inputs outputs Q 2 are in Safe State 9 OPERATIONAL SDO a cyclic communication enabled 5 PDO cyclic communication inputs and outputs to Table 27 EtherCAT network states If the network stays in PRE OPERATIONAL or SAFE OPERATIONAL one of the most common reason is a mismatch in PDO configuration More details see gt User Manual Firmware Chapter 12 Diagnostics z o H H H lt Now the network is operational and transm
33. dene nee das setas asset ded aas nsn naa ernennen da asc 77 Methods accessing non cyclic data 79 Abbreviations ite RO eit utum timi t Uma 87 PHySicalunits a ce e nm enu MM 87 Application Instruction DCV CDS45379 en Version August 2015 iii Getting Started Digital Control Valves List of figures List of figures Figure 1 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 OVOIVIOW cet pete het e EU acted NR RETE 1 Valve series D636 D637 D638 D639 D67x DWAX ooooooccccccccococononcnccococononononnnnnonononaronononenenananons 1 Step by step instruction Cre n ne Doe ee ode a n ede 2 eres T D are enlarge Ph 11 Conecto S cu reri E uiu 12 Analog input interface iie Ran dae de d eee d d bead d d dd 17 Network State Machine NMT occcoononcccccnnnncconoconnnnccnonnnananononnnnnnerernn naar nnne nnne nennen nnne nnne nennen 19 Device State Machine DSM sssssesssssesssseeeenenneneneeenen nemen enne nennen inen nnn 20 Master slave commumCalonN eiaa enn 25 Changing the Q setpoint value sssssssssssseseeeeeene eene een
34. et 2 D O 5 For initial operation the X1 connector has to have the following signals power connected e Power 0 V 24 V Release Signal Enable Signal at X1 Pin C 24 Vpc unless position 13 in type designation is O Optional analog setpoint value for the spool position and or pressure For assignment see User Manual Electrical Interfaces CA63420 001 Chapter 4 Electrical Interfaces The electrical installation includes the following steps snapjelg Each connector and cable 0NU09 eoi eq Check The pin layout against what is defined in the user manual Check The connector for proper connection of individual cables and pins Q Check The signal or power has the correct polarity Check The valve is grounded with low resistance Check The protective shield of the cable is properly connected gt Do Connect the above signals 24 V power and release signal suonesiddy eioods Do Switch off the hydraulic pressure sonsoubeiq Check The hydraulic pressure is zero Do Switch on the 24 V power supply Check Power consumption must be below 4 A Check MS LED is blinking yellow or green or constant green OONdeAOW t 8 io F Do Switch off the 24 V power suoneoi ddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 13 Getting Started Digital Control Valves 2 Electrical installation cabling Service interfaces
35. ou Q au InfoData E Import Box o O Ethemet En o amp cut Ctrlex Ba copy Ctrl C o Ready Erweterte Information Zeige versteckte Gesto Figure 31 Inserting a network card lt Check Q The list has the Moog valve listed under the sub tree EtherCAT Devices E S gt Do Select one Moog valve and press OK Check The valve will be listed in the left tree connected to the network card o duiex3 gt ke t O 5 o Application Instruction DCV CDS45379 en Version August 2015 72 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master It is also possible to scan the network for existing slaves Therefore select Scan Boxes B99226 NeueXML tsm TwinCAT System Manager Jo ys lage File Edit Actions View Options Help Dc x Ba B 5 s od A S t E EI see OB Bl SYSTEM Configuration ETTTM Real Time Settings jeneral Adapter Ether line CoE Online Additional Tasks a Route Settings Name Device 1 Etha BAT Id 1 a m Configuration Type EtherCAT Direct Modell Configuration c Bl 1 0 Devices Comment Device 1 EtherCAT s Device 1 Image ak Append Box Device 1 Image e Qt Inputs PL Delete Device amp i Outputs amp InfoData C crite Res Disabled Create symbols amp di Box 1 Servo Vall Online Reload Config Mode only Y
36. reaction type gt o index sub index 0x2830 1 127 different reactions can be configured individually for each En possible fault source Sending an emergency message only Forcing a fault reaction resulting in one of the DSMs fault state FAULT_HOLD FAULT DISABLED Noreaction A fault with configured reaction FAULT STOP value 127 leads to a shutdown of the valve In e this case spring centered position is entered and the MS LED is constant red Only by switching zm on the power again the valve can be re activated Faults which are preconfigured with amp 2 FAULT STOP 127 cannot be modified Q y n Application related fault reactions are not set to any predefined action all marked to NONE They have to be set by the user depending on the applications needs The easy way to make customer specific fault reaction configuration is using the Moog Valve Configuration Software See picture below T O o v 2 ks Fault Stop 200 Error microprocessor core 8 Fault Stop 200 9 Error digital signal processor Fault Stop 00 o Error DSP program download Fault Disabled 200 9 Error DSP realtime data transmission o Fault Disabled OO o Power supply voltage too low Fault Disabled oc o Power supply voltage too high Fault Stop 00 e Internal supply voltage too low Fault Stop 2600 Internal supply voltage too high Fault Stop 200 9 Internal reference voltage too low iw Fau
37. sub index 0x6040 0 to control the device state machine DSM The spool position setpoint value SplSetpoint index sub index 0x6300 1 Optional the pressure setpoint value lt PrsSetpoint gt index sub index 0x6380 1 The functionality of these parameters is defined by CANopen CiA408 For valves with Profibus fieldbus they are defined in PROFIBUS DP Profile Fluid Power Technology Usually the control and setpoint data will be transmitted using the cyclic communication via process data objects PDO In a CANopen network a Transmit PDO TxPDO will be received by one or more Receive PDOs RxPDO Master Slave X TxPDO 1 RxPDO 1 TXPDO 2 gt RxPDO 2 RxPDO 1 TxPDO 1 RxPDO 2 TxPDO 3 TxPDO 3 RxPDO 3 Figure 8 Master slave communication The assignment of the application data to a defined place within the PDO data package is defined by the PDO mapping using the CANopen objects 0x1600 0x1603 and 0x1A00 0x1A03 according to CiA 301 We use the default mapping 4 configured as default for RxPDO 4 This default RxPDO mapping is adequate for initial operation of the valve Default parameter mapping of p Q valves for cyclic communication with RxPDO 4 RxPDO 4 data frame COB ID 0x57f 1 ApplObj 1 ApplObj 2 ApplObj 3 0x0007 ACTIVE 16384 100 96 8192 50 Control word Spool position setpoint Pressure setpoint Empty Empty 1 ApplObj 1 ApplObj 2 ApplObj 3 0x001F ACTIVE
38. values are available Hydraulic failsafe spool position as specified in model code Device parameters can be set Actual values are available The selected lt ControlMode gt 0x6043 is active The setpoint according to the chosen lt DeviceMode gt 0x6042 are not effective The pre defined electrically controlled hold spool position setpoint value SplHoldSetPoint 0x6314 is active OINIEAON ACTIVE Device parameters can be set Actual values are available The setpoint values from the bus or from the analog input according to the chosen lt DeviceMode gt 0x6042 are active FAULT_INIT A fault reaction has occurred FAULT_DISABLED Hydraulic failsafe or HOLD spool position as specified in FAUL HOLD model code FAULT REACTION Table 5 DSM states suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 20 Getting Started Digital Control Valves 3 Introduction Fieldbus NMT and Device State Machine DSM Device State Machine DSM State transitions can be caused by Changing the lt ControlWord gt Hardware enable signal on connector X1 Valve internal events For more information regarding the Device State Machine see gt User Manual Firmware Chapter 5 2 2 Device State Machine DSM uone ejsu iw o lt n oo oz Oo oc 50 eL o OINIENOWN sonsoubeiq suoneoiddy jeioeds suoneoi ddy e duiex3 Application Instruction
39. watchdog activation The PDO transmission can be monitored and a fault reaction can be configured to switch the valve into a save state in case the communication to the fieldbus master is interrupted or disturbed EtherCAT gt User Manual Digital Control Valves with EtherCAT Interface Firmware B99226 DV016 B 211 Chapter 2 10 2 PDO Watchdog SM watchdog CANopen gt User Manual Digital Control Valves with CANopen Interface Firmware B99224 DV016 B 211 Chapter 2 8 3 1 1 Object 0x1400 1st RxPDO protocol configuration parameter RPdo1 EventTimer Application Instruction DCV CDS45379 en Version August 2015 34 uone ejsu o31u02 eoi eq 7 Lo o s Le ri 9 Er 5 7 snapjelg sonsoubeiq OONdeAOW suoneoi ddy ajduwexy Getting Started Digital Control Valves 7 Adaptation to special applications Changing the default PDO mapping 7 5 Changing the default PDO mapping For default valve operation with setpoints for spool position and pressure the default mapping must not be changed If special values are to be transmitted like additional axis position values j o monitoring values or valve states the PDO mapping can be adapted and extended D m Master Slave X TxPDO 1 RxPDO 1 TxPDO2 gt RxPDO 2 RxPDO 1 S TxPDO 1 RxPDO_2 TxPDO 3 zm TxPDO 3 go o og RxPDO 3 o 3 Figure 11 PDO mapping One PDO can be sent to more than one r
40. 001 xml and the corresponding CANopen eds file must be copied to the following directories This has to be done before starting the TwinCAT System Manager ESI file e g D672 E5704 0001 xml gt C TwinCAT lo EtherCAT EDS file e g D672 E5704 0001 eds gt C TwinCAT lo CANopen gt Do Connect the valve with the fieldbus master using the fieldbus cable gt Do Start the TwinCAT System Manager gt Do Open a new network configuration by selecting the menu File New or open an existing one gt Do Append a network card by opening the Append Devices window Bi Unbenamn TincaT Stem Voce E ES File Edit Actions icum Options Help Dg E Sb Bly es X Anxo EIS AA SI SYSTEM Configuration BB NC Configuration Bil PLC Configuration VO Configuration Plo Dance dB Mappings ak IA Ei Import Device Number Device Type X Scan Devices EB Paste Ctrl V SA Paste with Links Alt Ctrl V Figure 29 Appending a network card Application Instruction DCV CDS45379 en Version August 2015 71 uonejje suj oJ1u02 eoi eq snapjelg suonesiddy jeioeds sonsoubeiq OONdeAOW gt e ri z 9 zt 5 2 7 o duiex3 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master gt Do Select a net
41. 04 0003 Invalid sequence number block upload download only E 7 0504 0004 CRC error block upload download only o o 0601 0000 Unsupported access to an object Probably access right violation S a 0601 0001 Attempt to read a write only object a i 0601 0002 Attempt to write a read only object 0602 0000 Object does not exist in the object dictionary 0604 0041 Object cannot be mapped to the PDO e 0604 0042 The number and length of the objects to be mapped would exceed PDO length 0604 0043 General parameter incompatibility reason S 0604 0047 General internal incompatibility in the device gt 0606 0000 Access failed due to a hardware error 3 0607 0010 Data type does not match length of service parameter does not match 8 0607 0012 Data type does not match length of service parameter too high 5 7 0607 0013 Data type does not match length of service parameter too low 0609 0011 Sub index does not exist 0609 0030 Invalid value for parameter download only 0609 0031 Value of parameter written too high download only 0609 0032 Value of parameter written too low download only 0609 0036 Maximum value is less than minimum value 060A 0023 Resource not available SDO connection 0800 0000 General error 0800 0020 Data cannot be transferred or stored to the application soijsouBbeig 0800 0021 Data cannot be transferred or stored to the application because of local control 0800 0022 Data cannot be
42. 1 237 ms Device 1 EtherCAT Link detected 100 MBaud 3 O er Advanced Settings B y State Machine Slave Settings Master Settings we Settings Startup Checking State Machine Cyclic Frames V Check Vendor Ids v Auto Restore States Distributed Clocks BE Seet Check Product Codes Relrit after Comm Error amp Redundancy C Check Revision Numbers V Log Communication Changes 8 Diagnosis C Check Serial Numbers Info Data V Include State Include Ads Address C Include AoE Nelld llnclude Drive Channels suoneoiddy jeioeds Abbrechen Figure 38 Setting the network startup options Do Activate the configuration to start the network sonsoubeiq gt Do After each change of the network configuration the network has to be re started This is done by pressing Action Activate Configuration or by a click on the icon ES OINIEAON o duiex3 e pl z to zt 5 2 7 Application Instruction DCV CDS45379 en Version August 2015 76 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master Bl p99226 NeueXHL tsm TwinCAT System Manager m B Datei Bearbeken Aktionen Ansicht Optionen Oso Ml mark EQ sje em d ERES ME Allgemein EtherCAT Prozessdaten Startup CoE Online Onine ee WM
43. 2 1 Exchanging an existing valve in the network configuration If the EDS file of a certain valve model has been modified it must be re read into the TwinCAT System Manager To re read the EDS file do the following steps gt Do 1 Remove all slave nodes of this valve model from the network tree in the TwinCAT System Manager With this the variable mapping of theses slaves get lost Copy the new EDS file to C TwinCAT lo EtherCAT Restart the TwinCAT System Manager with this step the configuration file is re read Insert or scan the slave nodes to insert them into the list Map the valves input and output variables setpoint and actual value to the application by using the right mouse menu Change Link Activate the configuration by pressing Action Activate Configuration or by a click on the icon a QR OM 9 Application Instruction DCV CDS45379 en Version August 2015 78 sonsoubeiq suoneoiddy jeioeds ME uonejeisu OINIEAON o duiex3 gt ke t O o Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master 10 2 2 SDO parameter exchange to PLC The following methods are supported to access non cyclic data e g service data within the valves EtherCAT CANopen protocol available for data o exchange Data exchange with the PLC via m Process Data Objects PDO Globally defined var
44. 3 7 9 2 1 Example of configuring an analog pressure actual value transducer 45 7 9 2 2 Example of configuring a fieldbus pressure transducer 47 7 9 3 Control mode p and p Q control oooooccccccoccconcccccccccocnnonononononnncnncnnncnnnnnnnnnn mem menn 48 7 9 4 Adjustment of the pressure controller to the application eeeeeeesese 51 8 Diagnostics troubleshooting eese 54 8 1 CANopen emergency message used in CANopen incl EtherCAT CoE networks 54 8 2 SDO abort codes asa ienaa una ERATARA EAA ANA ARE EREE AEAEE EAA SA aTa Erap MAAE TE NANEU EREA AA EATERS 55 8 3 Diagnostics troubleshooting fieldbus EtherCAT unneessnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 58 8 4 Diagnostics troubleshooting valve application unnessnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 62 9 Moog Valve and Pump Configuration Software MoVaPuCo 66 9 T Requirements 2i iii 66 9 2 USB to CAN driver version VCI3 eeeseeseeeeeeeeeeeneenen nennen nennen nnn nnn nnn nnn nnne nnn nennen 66 9 3 Installation of the MoVaPuCo software eese nnne nnne nnne nennen nennen 67 9 3 1 Help function of the MoVaPuCo ssssssssssseeeeeeemerennerenn enne nererrerrtrennnn ns 68 10 Example applications with different network masters 69 10 1 CANopen network wit
45. 3 RXPDO 4 d ta frame ela e et iq Lee Moro et Mad ua ien albi rb beads 25 TxPDO 4 dat frame ee ette IE eet OR E een 25 Setpoint vallieranges e AE dii meis 27 Control mode values iniecit iedd eed ii nid danni dnd da d 32 Device mode values eee pce ip re te a RR Re EE E de 33 Loeal mode values are 34 Default Receive PDO mapping ersssssssssnnnnennnnnennnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnennennnnnannnnrnnnnn 36 Default Transmit PDO mapping ssssssssessessseneeeeeee me em enne nnn nennen nnn nnne 37 Mapping for drive speed and position control ssssssssssssseee en 37 Profibus data telegram selection ooooononccccnnnnocccccnnnooaccccnnnoncnncnn nan nnnncnnnn nn nncn nano ennemi 38 Pressure control setpoint and actual value ranges oonoocccccnnnooccccconaconcnccnnnncncnnnnnnncnnnnnnnncnnnnnnns 40 AD CONIOL a8 P 50 Emergency message ao peeing ote pite a al po ec deiode d 54 Emergency message extensions for EtherCAT sss nennen 54 SDO abort COMES its xir ier t eR eU iei drei 55 Fieldbus checklist CANopen ONlyY oooooccocconnocccoccnononcnccccononncncno nano n cnc cnn nn emere nennen nennen nne 56 AL status CONES mesita 58 EtherGAT checklist iier ea depa 60 Status WOIdz ac sc EL ID EID 64 Valve Application checklist sss en nennen nnn nennen rens nennen nne 65 EtherCAT network states esses eene
46. ANGLE p SINUS e Figure 34 Linking an application to the PLC program gt Do Therefore select Append PLC Project and choose an existing project B99226 NeueXML tsm TwinCAT System Manager e File Edit Actions View Options Help 2 Ose 5 eee ms Bay 29 ERAS EQ 9 ee ec Bl SYSTEM Configuration BA PLC Configuration _ B paste B Paste with Links 6 B 1 0 Configuration a Append PLE Project I General Plc Settings TwinCAT System Manager v2 10 Build 1343 Insert IEC1131 Project Suchen in splset splval 3 MoogYalve imsTask tpy alve langsamer Task tpy Dateiname MoogValve tpy IEC1131 Project Info tpy ontrol falve pro Datei Bearbeiten Projekt Einf gen Extras Online Fenster Hilfe ajja mleiescieledm x elel o T mn E eee 38 sese a PROGRAM DIVContral 002 VAR Mode GEN_MODE TRIANGLE MN Time TIME 920000 ra INT gt 16784 D FGEN a a Se SeleciMode GEN by ADDY Mode MODE our TRUE E Offset j Sime PERIOD SpooiNotPresure q iOycles p PEE erue g DecrenseValue Amplitude PUTUDE Spool SET eh ot RESET Presure H RESETI MOOG Hydraulic Valve
47. AULT_DISABLE 2 oft Moog Valve Configuration Software usi3 B99226 DV010 8 211f Node ID 127 offline B Ele Network Trace Data Format Window Help su Bo kerR BN ES Communication Application Contoler Interface Diagnosis Store Restore Information Device Control Lore EH ee E ne Setpoint Input via Bus 1 U NONE 100 CAN pdo2 data Spool Control Closed Loop 2 y 2 7 NONE 41101 CAN rpdo3 data Spool Position Pressure ELS NONE 102 CAN tpdo0 time out E Closed Loop O oO NONE 103 CAN tpdot time out m SEE i O a en T io eu lt NONE 106 CAN tpdo0 data Demand 0 0000 oc NONE 107 CAN tpdot data BE 0000 25 0 NONE 108 CAN tpdo2 deta Deviation 0 0000 NONE 109 CAN tpdo3 data o NONE 110 CAN lite guard error or heartbeat enor Bus Locs y NONE 111 CAN sync producer time out m Controlword via Bus EN ee S FAULTHOL 114 EtherCAT tpdo time out INIT en NONE 115 EiherCAT rpdo data DISABLED f FaueT None 116 EtherCAT tpdo time out HOLD FAULT Enor I uu rcm Rise modules x aj al al configuration loaded E Figure 45 Configuring the fault reaction gt Do In the TwinCAT System Manager project tree select the slave by pressing the left mouse key gt Do On the EtherCAT tab select the Advanced Settings button The Advanced Settings window appears gt Do Activate the SM watchdog functionality by enabling the Set SM Enable SM W
48. ApplObj 2 ApplObj 3 0x2805 00 PCB Temperature in C 43 uint16 Data 0x0007 ACTIVE 384 100 8192 50 0x6040 00 control word 0x0007 ACTIVE uint16 control word etp pressure setpoint empty empty f E E 0x6042800 device mode 2 Input Locally int8 RxPDO_4 Default Mapping 4 0x6043 00 control mode 1 spool position lIndexSub Description Data Type Object content closed loop j E 0x1603 00 Number of mapped Ob uint8 3 63008 _ sp001 position setpoint 36384 100 imas 0x1603 01 Mapping of ApplObj 1 uints2 ox6040 00 10 control word H 0x1603 02 Mapping of AppiObj2 uint32 oxt 10 spool position setpoint 7 0x1603 03 Mapping of AppiObj 3 uints2 0x638001 10 pressure setpoint E 0x6350 01 control deviation 16368 int16 0x1603 04 Mapping of ApplObj 4 uint32 oxoo00 00 00 0x1603 05 Mapping of AppiObj 5 uints2 oxoo00 00 00 ox6380801 pressure setpoint 8192 50 int16 0x1603 06 Mapping of ApplObj 6 uint32 oxoo00 00 00 0x6301801 pressure actual value _0 05 inus 0x1603 07 Mapping of ApplObj 7 uint32 0x0000 00 00 ox1603 08 Mapping of AppiObj 8 uints2 oxoo00 00 00 0x6480801 drive open loop setpoint 100 000 int32 0x6500 01 drive speed ctr setpoint 0 int32 0x6580801 drive force p ctrl setpoint int32 TxPDO_4 data frame COB ID Ox4ff 0x6600 01 drive position ctl setpoint o int32 Byte 1 2 4 5 6 7 8 ApplObj 2 0x6481801 drive open loop actu
49. August 2015 37 Getting Started Digital Control Valves 7 Adaptation to special applications Changing the default PDO mapping Example of changing the mapping of TXPDO1 The actual spool position control deviation index sub index 0x6350 0 should be mapped into TxPDO1 Therefore gt Do Set the number of mapped parameters to 0 0x1A00 00 0 Map the Spool control deviation with SDO index 0x6350 sub index 0x01 and length in number of bits 0x10 Therefore write the index sub index and length to the first mapped parameter 0x1600 01 using the following notation Write 0x63500110 into the TXPDO mapping Mapping of ApplObj1 gt index sub index 0x1A00 01 gt Do If needed map additional parameters into the Mapping of ApplObj2 gt index sub index 0x1A00 02 and so on gt Do Set the number of mapped parameters in our case 1 for the spool control deviation or more if additional parameters are mapped to the number of mapped parameters Number of mappedObj gt index sub index 0x1A00 00 1 gt Do Enable the TxPDO1 by setting the lt TPdo1_TransmissionType gt index sub index 0x1800 02 and switching the NMT state machine to OPERATIONAL For more details see c User Manual CANopen Chapter 2 8 3 Process data object PDO protocol or User Manual EtherCAT Chapter 2 9 Process data object PDO communication Valves with Profibus fieldbus use data telegrams defined by PROFIBUS DP Profile Fluid Power
50. DO ino from device a Y PDO Configuration Figure 42 Process Data tab o duiex3 e pl z o zt 5 2 7 Application Instruction DCV CDS45379 en Version August 2015 80 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master gt Do Deactivate the Fixed Content checkbox This enables changes to the PDO mapping This setting corresponds to the 5 Slavelnformation XML Mailbox CoE PdoConfig 1 setting in the ESI file an amp D Edit Pdo E Name Inputs Index hex 1400 6656 Direction Exclude T Pdo Input AxPdo Output Fags 5 Mandatory E T LL Fixed Content OD e Virtual PDO D 2 F 29 Figure 43 Editing the PDO mapping a Do Edit the PDO list by double clicking on PDO 07 ke Unbenennt Twine e o File Edit Actions View Options Help u v DS 8 m9 B8 s sa V sf A AR a Balas e gt A ES 3 Wl PLC Configuration See PDO Ust yo 5 4 VO Configuration MY VO Devices SM Size Type Flags Index Size Name Flac O 5 588 Device1 EtherCAT 0 16 MbxOut Ox1A00 60 Inputs F eb af Device1 Image 1 16 Mxh Qd600 60 Outputs F A i t er 1 Image In 5 H Pon a l Outputs o 5 8 InfoData ail Box1 Servo Valve 5 9 Inputs Ele EM j yl 1 Status Wor 7 91 Spool actu PDO Assignment Ox1C12
51. If you do not have a setpoint use a 16 bit dummy parameter sending the value 0 p Do Configure the number of parameters to be transmitted to 3 by setting the number of entries for the TxPDO e g index sub index 0x1603 00 in the master to 3 uone ejsu iw o lt n oo oz Oo oc 50 eL o 02 O Per default the valve is ready to receive the RxPDO Only the NMT state OPERATIONAL has to o be entered see further down v Check 3 The corresponding RxPDO mapping in the valve This is already configured by default as shown above a o m How to change and adapt this parameter mapping to a special application see c Chapter 7 5 Changing the default PDO mapping page 35 Configuration of PDO to be sent from the valve to the master used for valve actual values Og For initial operation of a CAN network it is not necessary to configure a Transmit PDO in the valve amp but it is helpful to get feedback from the valve gt EtherCAT needs to have the transmit and the receive PDOs configured consistently on both 5 transmit and receive ends Check In the valve slave the TxPDO is already configured to the default mapping as shown above gt Do On the fieldbus master configure an RxPDO with a COB ID Ox4FF to receive the valves TxPDO If the Node ID of the valve has been changed then use 0x480 NODEID as COB ID 2 Q Do a On the fieldbus master map the valves spool position actual value lt SplActualValue gt
52. Invalid mailbox configuration gt P I E 0x0017 Invalid sync manager P gt S S gt O Current state E configuration 0x0018 No valid inputs available S P S P E 0x0019 No valid outputs 0x001A Synchronization error 0x001B Sync manager watchdog 0x001C Invalid Sync Manager Types 0x001D Invalid Output Configuration 0x001E Invalid Input Configuration Configuration 0x0020 Slave needs cold start 0x0021 Slave needs INIT 0x0022 Slave needs PREOP 0x0023 Slave needs SAFEOP O E 0x0043 Mailbox CoE B P S O Current state E Table 23 AL status codes Network analyzing tool To analyze the Ethernet data frames including the EtherCAT frames the network analyzing tool Wireshark can be used This tool is under Free Software GNU General Public License and can be downloaded from www wireshark org For the interpretation of the EtherCAT frames the ethercat dll should be installed available www ethercat org download for EtherCAT members only Application Instruction DCV CDS45379 en Version August 2015 58 uonelrejsul 104U09 eoi eq snapjelg suonesiddy eioods soijsouBbeig OONdeAOW suoneoi ddy ajduwexy Getting Started Digital Control Valves 8 Diagnostics troubleshooting Diagnostics troubleshooting fieldbus EtherCAT To receive the Ethernet frames in the analyzer tool on several network masters a special operation mode has to be enabled For example in the TwinCAT Master th
53. OT_READY PA MAN INIT 1 FAULT INT Yer state RMHD 1000 4 7514 state RMHD 0000 lt ControlWord gt 0 control word from bus J oxeo4o gt F mo F 13 TR7 TR2 T TRIB TRB Sois Won U tatusWor I 4iiControlWordi Y Onsoa B o DISABLED FAULT_DISABLED TR12 lt T SLocalControWord gt amp 1 control word local MRS state RMHD 1001 4 7819 state RMHD 0001 Ui 0x4040 _ o o Z O Local 0x604F E SW Y mas o TRE LES TRIS rs o i 71y y HOLD FAULT_HOLD ONES ControlWord Re state RMHD 1011 ATR state RMHD 0011 y o nz R Bit Ready Bit 3 A R Bit Reset faults Bit 3 4 GS 3 IZ M Bit Active Bit 2 M Bit Active Bit 2 TRS TR TRA TRS H Bit Hold Bit 1 O H Bit Hold Bit 1 i D Bit Disabled Bit 0 E D Bit Disabled Bit 0 5 3 ACTIVE FAULT REACTION state RMHD 1111 RE state RMHD 00 M pz us Figure 23 Device State Machine fault states INIT suonesiddy jeioeds DISABLED HOLD OxOF ACTIVE 0x01 FAULT Table 25 Status word 0 Q 2 o 7 o 7 OINIENON suonesiddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 64 Getting Started Digital Control Valves 8 Diagnostics troubleshooting Diagnostics troubleshooting valve application Checklist Valve Application Problem Valve has no power The powe
54. Software MoVaPuCo Installation of the MoVaPuCo software 9 3 Installation of the MoVaPuCo software Steps to install the software Start the setup program of the MoVaPuCo During the installation setup will automatically check if the required version of Microsoft NET Framework 4 client profile is installed on the computer If this software was not previously installed and the computer is connected to the Internet the installation of Microsoft NET Framework 4 client profile will start automatically Installation of IXXAT Version 3 x if not already installed After successful installation and launch of the MoVaPuCo the following user interface appears The communication between the MoVaPuCo and the valve uses the CANopen protocol defined by CANopen CiA 301 CiA 305 and CiA408 Achtung Dies ist eine Konfigurationssoftware f r digitale Moog Ger te Sie ist nur zur Benutzung durch qualifiziertes Personal bestimmt Bitte lesen sie vor der Benutzung aufmerksam die Lizenz und Nutzungsbedingungen izenz un lingui insehel Ger t hinzuf gen v Akzeptieren der Lizenz und Nutzungsbedingungen EtherCAT LJ Testventil mit SDO Info 127 Feldbus Typ EtherCAT IP LSS 40 479 1 101 Modell D638 252 0001 Seriennummer 101 Firmware B99226 DV015 B M2221 Ausw hlen MOOC Ventil und Pumpen Konfigurations Software 2 1 Figure 26 Startup surface of the MoVaPuCo software with the help function
55. The valve has a pre configured P I D controller with a lt HydraulicCapacity gt index sub index u 0x230C 01 which is the hydraulic capacitance of the system called CH For example ifthe load 9 is a large volume it will have high compliance or low stiffness When you configure a system which has a large CH value the controller gain is increased to maintain an optimum response CH is a convenient gain term that can be used to obtain a reasonable first cut tuning without having to play with P and D gt Do It is recommended to first adjust the lt HydraulicCapacity gt index sub index 0x230C 01 CH Start with a CH value of 1 and then increase it step by step to a value where the system response becomes slightly nervous Reduce the controller CH to 30 below this value suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 51 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control Sample calculation Volume to control 0 3 litre Bulk Modulus for oil in steel 10 000 bar zi o _ Vol _ 0 31 aa N y pi 10 000 bar 010 bar m o Bulk Modulus for oil in hose 3 000 bar _ Vol _ 0 31 E 405 REX 3 000bar 199710 ar This higher compliance means lower stiffness so more controller gain is needed and can be used to achieve the same pressure response as with oil in steel It means the valve will open a more and so the same response applies only for
56. al value 0 int32 Data 0x0 VE E 0x6501 01 drive speed ctr actual value 0 int32 status word essure ty empty 0x6581801 drive force p ctri actual valug 0 int32 0x6601801 drive position ctrl actual valu 0 int32 TxPDO_4 Default Mapping 4 _ indextSub Description Data Type Object content 0x1A03 00 Number of mapped Obj uints_ 3 0x1A03 01 Mapping of ApplObj 1 uint32 100 P 0x1A03 02 Mapping of ApplObj 2 uint32 0x6301 01 10 spool position actual val ase 0x1A03 03 Mapping of AppiObj 3 uint32_ 0x630101 10 pressure actual value 0x1403 04 Mapping of AppiObj4 uints2 oxoo00 00 00 0x1A03 05 Mapping of ApplObj 5 uint32 oxo000 00 00 0x1A03 06 Mapping of ApplObj6 uint32 0x0000 00 00 0x103 07 Mapping of AppiObj 7 uints2 oxoo00 00 00 ox1A03 08 Mapping of ApplObj 8 uints2 oxooo0 00 00 Figure 13 Default mapping Eight default mappings are defined in the Device Profile CiA408 for hydraulic valves Each of the 4 PDOs in the valve is configured to one of the following default mappings Valves with EtherCAT fieldbus have configured the default mapping 4 in the objects 0x1600 and 0x1A00 Default Receive PDO mapping RxPDO 1 Index 1600 RxPDO 2 Index 0x1601 RxPDO 3 Index 0x1602 RxPDO 4 Index 0x1603 Mapped parameter Number of uint8 mapped Obj Mapped parameter Mapped parameter Mapped parameter uint32 0x6040 control w
57. and ranges e g m 4 20 mA 10 mA x0 V the ground can be potential free dedicated current return path or S single ended referenced to circuit ground current return path is ground Qo s o lt A gt c O O suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 15 Getting Started Digital Control Valves 2 Electrical installation cabling Pressure sensor valve internal optional 2 5 Pressure sensor valve internal optional This sensor is a valve internal transducer used to measure the pressure on hydraulic port A zi gt Do n Switch on the power supply for the valve D gt Do o Connect the MoVaPuCo to the valve or check later with the fieldbus master Check The actual pressure value is shown in the parameter lt PressureTransducerValue gt index sub index Ox3404 0 U gt Do E cn Charge the port A with pressure 2 oy o Check 9 2 The actual pressure value is shown in the parameter lt PressureTransducerValue gt E index sub index 0x3404 0 Check The actual pressure value is conditioned and scaled and passed to the pressure controller s on input lt PrsActualValue gt index 0x6381 If not check the Pressure transducer selection and g the Actual value filter 2 gt For more details see e c Chapter 7 9 Pressure control page 40 a 0 o o D Q o e o Oo lt Q gt O O suoneoi ddy e du
58. apping of uint32 ApplObj 5 Mapping of uint32 ApplObj 6 Mapping of uint32 ApplObj 7 Mapping of uint32 ApplObj 8 Table 14 Default Transmit PDO mapping 7 Lo o s Le ri 9 Er 5 7 Default mappings 6 8 for drive speed force and position control In case drive control modes are used the mapping can be changed to the following setpoint and actual parameters u E Drive open loop setpoint 9 0x6500 01 Drive speed control setpoint 5 0x6580 01 Drive force pressure control setpoint 0x6600 01 Drive position control setpoint 0x6481 01 Drive open loop actual value 0x6501 01 Drive speed control actual value 0x6581 01 Drive force pressure control actual value z Drive position control actual value 2 Table 15 Mapping for drive speed and position control Ay 9 These predefined mappings can be used without modification If they do not fit to the application they can be adapted to the customers needs by configuring the mapping parameters To map the application parameter its index sub index and length must be combined to a 32 bit value and written to one of the eight possible positions corresponding to the sub indexes 1 8 within the PDO object With the parameter lt TPdo_NumberOfMappedApplicParalnPdo gt 0x1A00 the number of real time application parameters to be transmitted is set suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version
59. atchdog Time Multiplier 0 04 10 s SM watchdog suoneoiddy jeioeds sonsoubeiq In this example SM Watchdog Time 25000 0 04 10 s 3000 3000 ms 3 sec n M Advanced Settings T p 5 General mr s Behavior Oo Tusea Silos Startup Checking State Machine lt Identification Y Check Vendor ld Y Auto Restore States Rt FMMU SM Y Check Product Code Wait for WcState is Ok U Init Commands Check Revision Number Y Relnt after Communication Error ez Mailbox pica Y Log Communication Changes N O 5 ESC Access Check Serial Number du o PON UMS a OP SAFEOP in Config Mode Bacci Dus SAFEOP OPREOP INIT Use LRD LWR instead of LRW Info Data Y Include WC State Bit s Y Include State Frame Repeat Support Y Include Ads Address le ADE Netld General i ide Channels ddr T Include DC Shit Times gt Watchdog 3 m Y Set Muliplier Reg 400h 298 E o x BE Set PDI Watchdog Rea Ah 1000 100 000 o 1 9 Y Set SM Watchdog Reg 420h 3000 ms 300 000 e 3 vd So o Abbrechen 7 m Figure 46 Setting the SM watchdog time Application Instruction DCV CDS45379 en Version August 2015 82 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master To change the watchdog setting for all valves it is possible to edit the ESI file
60. ate does not become PRE OPERATIONAL Mailbox configuration with SM2 and SM3 The valves type and revision does not match the configured one Network state does not become SAFE OPERATIONAL PDO configuration data length on master and slave side The type of valve in the node list of the master If applicable deactivate Check Product Type Network state stays in SAFE OPERATIONAL but does not become OPERATIONAL The PDO configuration is correct Check the application program PLC is still running or Check the checkbox Stay at PPRE OP until Sync Task started is not set in the EtherCAT s Advanced Settings window of the network card Table 24 EtherCAT checklist part 1 of 2 Application Instruction DCV CDS45379 en Version August 2015 60 uonejjejsuj 04U09 so naq snapjelg suonesiddy jeioeds Q 9 3 o a et o o OINIENON suoneoiddy s dwuex3 Getting Started Digital Control Valves 8 Diagnostics troubleshooting Diagnostics troubleshooting fieldbus EtherCAT Checklist EtherCAT Problem Check Network state becomes OPERATIONAL but the setpoint value in the valve stays zero PDO mapping process data configuration in the slave and master Check the byte order within the PDO data frame Check that the setpoint value is received in the corresponding parameter e g index sub index 0x6300 1 This check can be done by Reading the parameters u
61. audrate and Node ID configuration 4 2 CANopen baudrate and Node ID configuration Within a CANopen network each node must communicate at the same baudrate and each node must have a unique Node ID Moog valves with CANopen fieldbus will be delivered with the following default factory settings Baudrate 500 kBit sec Node ID 127 uone ejsu To change the baudrate or Node ID the CANopen Layer Setting Services LSS according CiA305 can be used This can be done e g by using the MoVaPuCo If desired by the customer another default setting can be delivered Check All nodes within the network have configured a unique Node ID The Node ID is sent to the bus with the bootup message when powering on the valve iw o lt n oo oz Oo oc 50 eL o 4 3 Parameterization SDO After power on parameterization can be done by CANopen SDO services To keep the new parameter settings persistent they have to be stored to the non volatile memory This can be done using the Object 0x1010 Save Parameter c Chapter 6 Storing and loading of settings page 31 OINIENOWN sonsoubeiq suoneoiddy jeioeds suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 24 Getting Started Digital Control Valves 4 Fieldbus configuration Cyclic communication PDO 4 4 Cyclic communication PDO To operate the valve three input parameters are needed The Control Word lt ControlWord gt index
62. be accessed reading the parameter lt errreg gt 0x1001 A list of recent errors can be accessed reading the parameter lt StandardErrorField gt nm index sub index 0x1003 1 8 o lt FaultReactionDescription gt index sub index 0x2832 lt FaultStatus gt index sub index 0x2831 lt FaultRetainStatus gt index sub index 0x2834 3 The lt FaultHistoryNumber gt index sub index 0x2832 S Detailed description of the fault parameters and a list of the fault codes c User Manual Firmware Chapter 8 1 4 Error Codes m In the MoVaPuCo the error states are shown in the right window named Errors 0 Q 2 o 7 o 7 ind Pump Configuration Software 1 2 0 OINIENON Figure 21 Error states shown in MoVaPuCo Status Word The valve application lt StatusWord gt index sub index 0x6041 0 shows the current communication independent device state Bus specific fault states are not shown in the status suonesiddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 62 Getting Started Digital Control Valves 8 Diagnostics troubleshooting Diagnostics troubleshooting valve application Fault Reaction In all these cases fault is indicated in the parameter lt FaultStatus gt index sub index 0x2831 01 4 Corresponding fault reactions can force the Device State Machine DSM to go i 5 into a defined fault state Depending on the fault configuration parameter lt fault
63. ct related hardware and software documentation required for the relevant application only users properly qualified and authorized for these tasks may work with and on our products Note This document has been prepared with great care in compliance with the relevant regulations state of the art technology and our many years of knowledge and experience and the contents have been generated to the best of the authors knowledge However the possibility of error remains and improvements are possible Please feel free to submit any comments about possible errors and incomplete information to us Application Instruction DCV CDS45379 en Version August 2015 Getting Started Digital Control Valves Overview Overview Moog Axis Control Valve Example A position and pressure limiting application The control loops are closed in the PLC Moog Digital Control Valve Example A position and pressure limiting application The control loops are closed within the valve electronics Figure 1 Overview Application Instruction DCV CDS45379 en Version August 2015 WHEATSTONE BRIDGE Getting Started Digital Control Valves Table of contents Table of contents COP WHC sorta a ea nM ee ts eee a an ar an rcc A LIS OF tables yin u re Tr iii List t figuresa
64. d must be adhered to The warning notes used are structured as follows Moving machine parts 3 Entrapment hazard 4 gt Do not enter danger zone 5 Legend 1 Warning symbol draws attention to the danger 2 Signal word indicates the severity of the danger 3 Type and source of hazard 4 Possible consequences if a potential hazard Describes the consequences in case of non observance 5 Hazard prevention measures Application Instruction DCV CDS45379 en Version August 2015 5 uonejje suj oJ1u02 eoi eq snapjelg suonesiddy jeioeds sonsoubeiq OONdeAOW suoneoi ddy e duiex3 Getting Started Digital Control Valves 1 Introduction Essential documentation hard and software for commissioning of DCVs 1 5 Essential documentation hard and software for commissioning of DCVs Application Instruction DCV CDS45379 en Version August 2015 Recommended Documentation Check essential valve documentation for installation and commissioning of the valve c Chap 1 6 Further documentation page 8 X1 Main Connector or Connection Cable 6 PE Power Enable Moog part No B97007 061 mating connector metal IP65 as per DIN EN 175201 804 usable cable with min 8 mm 0 31 in and max Y 12 mm 0 47 in 4 Moog part No C21033 003 001 cable for valve connector X1 with 6 PE pin mating connector length 3 m 9 8 ft Or depending of your valve type X1 Main Connect
65. document already describing the procedure this document is referred to Application Instruction DCV CDS45379 en Version August 2015 2 Getting Started Digital Control Valves 1 Introduction General information 1 2 General information The described valves may be operated exclusively within the framework of the data and applications specified in the corresponding user manual Any other or more extensive use is not permitted The application instruction DCV is only valid in conjunction with the corresponding user manuals of our digital valves following link D The corresponding user manuals of our digital valves can be downloaded from the www moog com literature search Application Instruction DCV CDS45379 en Version August 2015 3 uone ejsu oJ1u02 eoi eq snapjelg suonesiddy jeioeds sonsoubeiq OONdeAOW suoneoi ddy ajduwexy Getting Started Digital Control Valves 1 Introduction Typographical conventions 1 3 Typographical conventions DANGER uonejjejsuj Warns about an imminent danger to health and life Failure to observe this warning can result in severe injuries or even death Make absolutely sure to heed the measures described to prevent this danger O4JUOD a9 naq Warns about a possible situation dangerous to health Failure to observe this warning can result in severe injuries or even death gt Make absolutely sure to heed the measures described to prevent this dange
66. e Promiscuous Mode has to be enabled for the appropriate network card 2 o Bl unbenannt tsm TwinCAT System Manager B Jog v Datei Bearbeiten Aktionen Ansicht Optionen o Du m B 5 sad OA ORNS amp gQsjeee SB GB SYSTEM Konfiguration O amp BU SPS Konfiguration Allgemein Adapter EtherCAT Online CoE Online gt A Ela Konfiguration Be SE EJA Ger te eschreibung EtherCAT Interner Anschluss TwinCAT Intel PCI Ethernet Adapter Gi Ei 79 Ger t 1 EtherCAT Ger te Name DEVICE 3E 06141E 7F59 46BC BB6F 8551EC681 65D la Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info MAC Adresse 00 40 f4 6082 41 Suchen Im Kompatible Ger te a B means IP Adresse 0 0 0 0 0 0 0 0 Kompatible Ger te InfoData Freerun Zyklus ms 4 di Hauptstufe Servo Valve D671 E0007 0001 8 Zuordnungen U Y Promiscuous Mode use with Netmon Ethereal only D Virtuelle Ger tenamen TwinCAT v2 10 b1250 erforderl lt TI o0 2a Oc v O G Bereit Lokal 127 255 255 1 1 1 KENANA 2 gn 9 Figure 20 TwinCAT System Manager o 0 xe e O t p o 2 o 0 Q 2 o 7 o 7 OINIENON suonesiddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 59 Getting Started Digital Control Valves 8 Diagnostics troubleshooting Diagnostics troubleshooting fieldbus EtherCAT Check
67. e en nnn rn nn nnn nnn nennen 33 Local mode xenon ete epe genas d eee E Dp ars 34 PDO imap pin Giese re M M H A 35 Master slave COMMUNICATION eceeeeee et tteee terete eee terete teeta TEENA nennen nennen enne enne enn 35 Default Mapping E RR 36 Analog input interface c ect Eb ade eum Ut ge pe o E Ecc e E E bee D EE MU E ERE Pez insane 41 Pressure setpoint value path 02444424444444440annennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennennnnnannnnnn nennen 42 Pressure actual value interface ccccesenecceeeseecceeeeeeenceneeessececaaeennenccnaeeeseceaaeesneaceaeenseeeeeenennees 43 p and p Q control en 49 Ap conttol principle siete tede ein ein inuitus 50 Pressure controller c racer terrea ee te cobs Ped eth uie RT EE cosh td Ende c RS 51 TwinCAT System Managger n ara nnnm e 59 Error states shown in MoVaPuCo niieu iiaiai araia ariaa nn rc nennen enn aa nennen enn 62 MoVaPuCo fault configuration nennen nennen nennen nen 63 Device State Machine fault States ooooooconnnncccconnocccccccononcnnnnnnnannnnnnnano cnn nc conan emen 64 USB to CAN adapter 2 2 erm ROI RR UE RE EE ES 66 CAN CADO ia mU tome dite tetti 66 Startup surface of the MoVaPuCo software with the help function een 67 User interface of the MoVaPuCo with help function sssssssssse en 68 CANopen netwo
68. e fieldbus master 9 gt Do Start the fieldbus master s network state machine NMT protocol c Chapter 4 6 Start the fieldbus network page 28 Check The NS LED of the valve must be on blinking yellow or green suoneoiddy ejduiex3 Application Instruction DCV CDS45379 en Version August 2015 14 Getting Started Digital Control Valves 2 Electrical installation cabling Analog setpoint value interfaces X1 X5 X6 X7 2 3 2 Profibus Check gt One termination resistor is connected to each end of the Profibus o y gt Do a Switch on the power supply for the valve and the fieldbus master o 5 gt Do Start the fieldbus master s network state machine NMT protocol c Chapter 4 6 Start the fieldbus network page 28 Check Og The NS LED of the valve must be on blinking yellow or green 2 ZI 8 o og 2 3 3 EtherCAT oF s p Do iw Connect the EtherCAT cable to a second EtherCAT device e g another valve or a network slave or master op p Do 8 Switch on the power supply for the valve and the other device o Check Pa The NS LED of the valve must be on blinking yellow or green Ry 3 2 4 Analog setpoint value interfaces X1 X5 X6 X7 i Per default the analog input O and input 1 on connector X1 are used as setpoint inputs The connectors X5 X6 X7 can also be used as analog setpoint inputs Og The signal ranges of the analog input can be configured to different types
69. eNo gt index sub index 0x6101 00 to 1 gt User Manual Firmware Chapter 6 3 Actual value transducer interface o gt Do a Set the Interface Type Type index sub index 0x6102 00 to 2 pressure transducer 9 gt User Manual Firmware Chapter 6 3 5 3 Object 0x6102 Type 7 gt Do Set the interface sign Sign index sub index 0x6103 00 to 1 positive polarity U gt Do 2 Set the signal source to X5 analog input 2 0x3264 00 to 0x32140010 5 The value 0x32140010 represents the SDO index sub index and length 0x10 of an2val 2 scaled analog input value of X5 gt Check The following scaling parameters can remain on factory setting The maximum pressure 250 bar 16384 10240 400 bar The maximum signal 20 mA 16834 The minimum pressure 0 bar 0 S The minimum signal 4 mA 0 o O gt Do Set reference pressure value lt PrsReferenceValue gt index sub index 0x231C 01 to correspond to the max nominal pressure of the transducer e g 400 for 400 bar corresponding to 100 gt Do The pressure sensor scaling is factory preset to 0 100 and the zero point to 0 For any adjustments beyond these values see index sub index 0x6121 01 0x6125 01 0x6120 01 0x6120 02 0x6124 01 and 0x6123 01 gt User Manual Firmware Chapter 6 3 6 Pressure actual value scaling suonesiddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 45 Getting Started Digital Control Val
70. eaA gt 0x230DINI lt PID controller Ke c m gt o _ Ki Vau Dv wv 2 E 3 s TARTA za O ed g 2 E ES Ko Ta Linear plant model gt un O x 50 Figure 16 Pressure actual value interface Application Instruction DCV CDS45379 en Version August 2015 43 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control Transducer A B If more than one pressure transducer is used the valve can be configured to read both A and B side of the cylinder For this case the controlled pressure is actually the Ap pa o pg with the cylinder area ratio taken into account 2 i The control value now represents a value which is proportional to the hydraulic force of a cylinder D c Chapter 7 9 3 Control mode p and p Q control page 48 el Pressure Weighting When activating the A B pressure transducers the user shall also define the piston diameter piston rod A diameter and piston rod B diameter all values given in same units e g in mm only Here the A side is the cylinder chamber on the A side of the valve For more detailed Ap controller setting see c Chapter 7 9 3 Control mode p and p Q control page 48 U 5 lt If external pressure transducers are used it might be necessary to calibrate the 2 D pressure actual value This procedure is explained in the user manual for firmware O EE gt User Manual Digital Control Valves with EtherCAT Interface Firmware c B99226 DV016 B
71. eceiving node A direct transmission of a PDO from slave to slave is also possible Slave X Node ID 0x7f Master RxPDO 1 COB ID 0 27 8B i RxPDO 2 COB ID 0x37 TxPDO_1 COB ID 0x27 77 TxPDO 2 COB ID 0x37f TxPDO 1 COB ID 0x1ff TxPDO 3 COB ID ox3ff 7 Lo o s Le ri 9 Er 5 7 RxPDO 1 COB ID 0x1ff RxPDO 2 COB ID 0x3ff TxPDO 3 COB ID 0x303 Slave Y Node ID 0x03 g SED CCH EEE RxPDO 1 COB ID 0x37f not default amp RxPDO 2 COB ID 0x303 3 o TxPDO 1 COB ID 0x183 TxPDO 2 COB ID 0x283 o Figure 12 Master slave communication The assignment of the application data to a defined place within the PDO data package is defined by the PDO mapping using the CANopen objects 0x1600 0x1603 and 0x1A00 0x1A03 according to CiA 301 lt o 5 O O suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 35 Getting Started Digital Control Valves 7 Adaptation to special applications Changing the default PDO mapping Object Dictionary RxPDO 4 data frame COB ID Ox57f Index Sub_ Name Value Type Byte 1 2 4 5 6 u 8 0x2804 00 supply voltage in Millivolt 24000 uint16 ApplObj 1
72. ed by user c Chapter 7 9 Pressure control page 40 Spool position Q pressure P switchover User Manual Firmware Chapter 7 7 Spool position Q pressure P switchover 7 Lo o s Le ri 9 Er 5 7 Control mode Ap Control Control mode Ap is not an independent control mode It is just the possibility to calculate the 3 control variable for the pressure controller out of two pressure signals En O For instance amp To get a better performance of an hydraulic axes cylinders are operated between two control edges A control edge and B control edge Both chambers of the cylinder are always under pressure To control a value which is proportional to the hydraulic force of the cylinder the pressures of both cylinder chambers have to be taken into account according the cylinder areas PressureActualValue EFFECTIVE Pressure on A side o Pressure on B side S gt Where o is the area ratio of the cylinder O O In order to use this feature the cylinder dimensions area ratio needs to be given index sub index 0x585F 00 0x585D 00 0x585E 00 This allows the valve to calculate an area compensated pressure coefficient o 2 2 a D Actuator D rodB 2 2 D Actuator D rodA The lt Pressure Actual Value gt index sub index 0x6381 01 always refers to the pressure difference stated above Similarly the pressure setpoint refers to the desired Ap suoneoi ddy ajduexy
73. ees m o Server Port Timestamp Meldung lt CS D TAN Figure 37 Linking the process data to the slave device valves setpoint and actual values O o duiex3 gt ke t O 5 o Application Instruction DCV CDS45379 en Version August 2015 75 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master gt Do Set the options for the startup of the network Bl B99226 NeueXML tsm TwinCAT System Manager oe o Ele tdt Actions View Options Hep o A E Ph ss a EJ E Osea am B Sav em g EQ 2 lo 0 0 E Bl SYSTEM Configuration M al S J PLC Configuration General Adapter EtherCAT m MEE Moogvalve langsamer Task gt WR 110 Configuration Netid 127255255121 Advanced Set o N9 1 0 Devices MA Device 1 EtherCAT Export Configuration ie de Device 1 Image SI de Device 1 Imege Info Sync Uni Assignment amp Inputs Advanced Settings a Si Outputs E Master Settings vous Stang Stare Run Tene Behavou s em Frame Cmd Add Owr Eog Topology Carpe m og ege e 4 Mio Lew oomoo ond Omeor Log CRC Cote sen Milo ERD 0490004 rcc Owo Rein sher Conmuncaon Ese L Show ingus Fog nana fE Stay a FEOF u Sy Tak aned trodes trate rose O sena Dice Cio Stove Can T Server Port Tmestamp Meldung lt m OTcIo 300 08 06 2007 11 44 1
74. er This has to be done before starting the PLC application 9 C Programme Siemens Step7 S7DATA GSD e 110 SN moveaeonne e Lc v Lohne_ 7 7 G von 51 2 G frei Y lt T c Programme Siemens Step7 S7DATA GSD o o Name Erw Gr sse Datum Attr o i lt DIR gt 18 10 12 15 41 o C3EBKP0000 DIR 18 10 12 15 06 O o C3 BKP0001 DIR 18 10 12 15 06 OMS O BKP0002 DIR 27 09 12 15 40 o C3 BkP0003 DIR 27 09 12 16 14 eC A HL 7501 GSD 11 727 11 11 02 11 14 a o LA MOOGO7F4 GSD 4 208 18 10 12 15 38 a SI8048AX 200 17 719 18 03 97 10 27 a A siem0024 gsd 13 035 11 08 99 14 15 a siem0024 gsf 13 661 11 08 99 14 15 a L siem0024 gsg 13 067 11 08 99 14 15 a A siem0024 gsi 13 412 11 08 99 14 16 a C siemoo24 gss 13 170 11 08 99 14 16 a dp J sIEMO738 GSD 12 503 03 05 99 12 09 a A siem8037 gsd 13 148 17 12 0116 32 a jo L s1EM8042 GSE 15 592 17 12 0116 32 a O L SIEM8042 GSF 15 592 17 12 01 16 32 a O L SIEM8042 GSG 15 387 17 12 01 16 33 a fad SIEM8042 GSI 15 592 17 12 0116 33 a A SIEM8042 GSS 15 592 17 12 01 16 33 a A siEM8070 GSD 4 699 03 05 99 12 09 a o 2 o ES o E n The fieldbus master needs information about the valves fieldbus interface configuration gt Do Start the Simatic S7 Master amp gt Do E 1 1 Select Extras Neue GSD installieren 2 O
75. es are related to the MoVaPuCo B99464 DV021 A 010 Version 2 1 With this version the firmware B9922x DV001 to B9922x DV017 can be configured Depending on the existing firmware the valve configuration window may differ 9 1 Requirements Operating system Required operating system is Windows Vista Windows 8 1 Software Moog Valve and Pump Configuration Software B99464 DV021 A 010 Hardware USB to CAN adapter card Moog order code C43094 001 CAN adapter cable 9 pin D Sub socket to M12 a coded connector with termination resistor for a one to one connection between the notebook and the valve Moog order code TD 3999 137 CAN adapter cable M8 to M12 A coded Needed when connecting to the X10 service plug Moog order code CA40934 001 Figure 24 USB to CAN adapter Moog order code C43094 001 Moog order code TD 3999 137 9 2 USB to CAN driver version VCI3 Before installing the driver version VCI3 it is recommended to uninstall earlier driver versions e g VCI2 x The latest versions of drivers and utilities to uninstall older IXXAT drivers can be found on the manufacturer s website or at the following address www moogsoftwaredownload com Application Instruction DCV CDS45379 en Version August 2015 66 uonejjejsuj 0 4U09 a9 naq snapjelg suoneoiddy jeioeds sonsouBeiq suoneoiddy ODNdEACIN s dwex3 Getting Started Digital Control Valves 9 Moog Valve and Pump Configuration
76. gValve langsamer Task BeScan Run Time No O4JUOD a9 naq snqp al4 lt i gt Ready Local 127 255 255 1 1 1 SEM Figure 36 PLC configuration with PLC application parameters gt Do Link the process data from the PLC program to the slave device valves setpoint and actual values suoneoiddy jeioeds 1 099226 NeueXML tsm TwinCAT System Manager Wow Datei Bearbeten Aktionen Ansicht Optionen 2 Ose 836 5 435 3 sa S amp OHS EQ o etie OD BI SYSTEM Konfiguration e BB SPS Konfiguration Online U a Ey oo 3 dame Spool set value splset 0 S E Device 1 EtherCAT Be INT e de Device 1 Image Em fe Device 1 Image Info Gruppe Outputs Gr e 20 O amp Qt vous Adesse MC UserID o o poas Er InfoData my gt Box 1 Servo Valve D672 E5704 0001 O 3 u Kommentar eo QT Status word stswrd 97 Spool actual value splval Attach Variable Spool set value splset Output m t SY Pressure actual value prsval AC Contanos en l Outputs dine rae i Urnes 9 Control word cthwrd 1 proe a Da 6 Spool set value splset i PuSe gt QB40 WORDI20 V Exclude other Devices ee Si cid gt QBEONTIGIZO Y Westate E show Tories E Infonsta Shon Van Types dij Box 2 Servo Valve D672 5704 0001 Macho Tape E B Zuordnungen ADS Info Port 300 IGip 0x11 Eating See LIA types ones Dorian L
77. h Moog MSC ll eese nnn nnn nnne nnn 69 10 1 1 MSC CANopen stack documentation cccccecceeeeeeeeeeeeeeeaaeeeeeeeeeeeeeseeteeesnneeaeeess 70 10 2 EtherCAT network configuration with TwinCAT master eeeeeeennn enn 71 10 2 1 Exchanging an existing valve in the network configuration 78 10 2 2 SDO parameter exchange to PLC sssssssssesse eene nennen nnns 79 10 2 3 Custom defined PDO configuration 80 10 2 4 PDO receive WatChdog cccccccceceescnccceeeeeccceeeeessecceeeseseaceceesnssaceceesesseeceeeneasaeeeneneaneee 82 10 3 Profib s S7 SIEMENS a ce Dn a ia Os FRE ERR EVO 84 11 Abbreviations Unis e 87 Application Instruction DCV CDS45379 en Version August 2015 ii Getting Started Digital Control Valves List of tables List of tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 F rthier docurmerntation euet Oe tede edant ut e deme 8 O Control iis E 11 CANopen network states ton e sent ette Dee Dedi eiu rti edid 19 EtherCAT network State Siae aE E AEREE ARRESE T nnne nenn enne cerraran 19 DSM States oia TA 20 Configuration files an dd eeu da ee dace du du eee 2
78. iables a cyclic process data E Service Data Objects CANopen SDO Function block function call within the PLC library configuration data TcEtherCAT Lib FB EcCoESdoRead FB EcCoESdoWrite Emergency message Log window error messages from the slave to the master No direct access from PLC program a Alternative sz T Read out the valves parameter predefined error field 3 D 0x1003 in case the status word 0x6041 ready bit indicates O an error oc 30 er Table 28 Methods accessing non cyclic data O 07 jo D o v Lo 2 fo ER O E n Q Y Q 3 O 0 O 0 O lt eb v S O O o duiex3 e ri 9 zt 5 2 7 Application Instruction DCV CDS45379 en Version August 2015 79 Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master 10 2 3 Custom defined PDO configuration The PDO configuration of EtherCAT slaves is stored on three different places where different EtherCAT masters do prefer different sources to read this PDO configuration 5 a e e ESI file e SDO parameter 0x1600 and following SII EPROM in the slave Configuration in the master TBl gosz26 HeveXML tsm TwinCAT System Manager u Wow D636E205 xml LI E EIE ESS Baar lt xml version 1 0 gt lt EtherCATinfo Version 1 2 gt OLLER IE OLE I E C Aa CA
79. ial Number GO WAIT_CFG RE T DATA EXCH aereo Enable 40 INIT Pressure 4 Limit DISABLED FAULT orp 7 how eur nor ACTIVE Reset l Fat Waring Eror intialse modules show resources configuration a wl ad Teststand Stop DIVPQ PRO xmi B99225DV015 B 21 1a xml 177778006 7717 T32Rev g RT851 Figure 53 Configuring the Node ID using MoVaPuCo gt Do Select the telegram used to transmit cyclic process data AI SIMATIC 300 Station Konfiguration DivPro_1 DEK __PROFIBUS 1 DP Mastersystem ru DIV f Bestellnummer Bezeichnung E 1 4x J dTel5Ip G Par Chn 100 107 100 107 EXC UE Pac On gr 0 Figure 54 Selecting the telegram 2 oy Y O 3 zv 5 Application Instruction DCV CDS45379 en Version August 2015 86 Getting Started Digital Control Valves 11 Abbreviations Units 11 Abbreviations Units AL Application layer Software interface of the EtherCAT interface to the slave devices application CAN Controller Area Network specified by CAN in Automation CiA CiA CAN in Automation international user s and manufacturer s organization CANopen EN 50325 4 Osi Layer 7 protocol specified by CAN in Automation CiA CAT 5 Category for twisted pair wires standardised in ANSI TIA EIA 568 B 1 2001 CoE CANopen over EtherCAT DC Distributed Clock DIV Digital Interface Valve DCV Digital Control Valve former DIV EDS Eds Electronic Datasheets
80. iex3 Application Instruction DCV CDS45379 en Version August 2015 16 Getting Started Digital Control Valves 2 Electrical installation cabling Pressure sensor connected to the analog interface optional 2 6 Pressure sensor connected to the analog interface optional The user can connect external pressure transducers to the valve The connectors X5 X6 X7 can be used as analog actual value transducer interfaces a D J D O The signal ranges of the analog input can be configured to different types and ranges 4 20 mA 10 mA 10 V the ground can be Potential Free or Grounded U o lt T oo eo 92 S5 ei jaa y o op o 8 Description Analog input interface gt Lo lt InputType gt index sub index 0x3210 0 o Value range Potential free Grounded 8 ap 10 V 100 9 9 0 10 V 0 100 96 10 o 10 mA 100 96 0 10 mA 0 100 96 0 4 20 mA 0 100 96 g 4 20 mA 100 96 e Parameter name communication address X5 analog input an2val index sub index 0x3214 0 an2typ index sub index 0x3210 0 2 O X6 analog input an3val index sub index 0x321C 0 an3typ index sub index 0x3218 0 o XT analog input an4val index sub index 0x3224 0 an4typ index sub index 0x3220 0 All inputs 0 100 correspond to 0 16384 or 100 correspond to 16384 Figure 5 Analog input interface The logic to select the interface is called the transducer
81. iguration in the SDO parameters 0x1600 of the slave node Use the default ESI file in the TwinCAT System Manager and change the PDO configuration in the Process Data tab to the applications needs In this case the user defined PDO w mapping is transmitted to the slave node during every startup of the node e 5 To configure the PDO according to method 2 do the following steps 9 et gt Do 2 Open the Process Data tab in the TwinCAT System Manager BR Urbenannt Teincr Systm Manager CUN emm File Edit Actions View Options Help Osea Ba 8 Sissy EEE e Ea alles e e a SYSTEM Configuration General BherCAT Process Data Startup CoE Onine Online BB NC Configuration Bl PLC Configuration Sync Manager PDO List lt c VO Configuration B VO Devices SM Sie Type Fags Index Size Name Flac O E 5 Device 1 EtherCAT 0 16 Mao 7 lt amp Device 1 Image 1 16 Mexin 0cte C F Device 1 Image In Bog ae Delete ie 5 8f Inputs Sce Inputs TU H Outputs Edit c 5 M InfoData Move Up O ll x rums o OT Status Wor 91 Spool actu PDO Assignment Qx1C12 PDO Content 01A00 OT Pressure ac Y 01600 Index Size Offs Name e Outputs 0X5041 00 20 00 Status Word Q1 Control We 630101 20 20 Spool actual value L Spool set v 0x6381 01 20 40 Pressure actual value Pressure se 60 H WeState i InfoData L E Mappings Download Predefined PDO Assignment none Spares Load P
82. index sub index 0x6301 1 as second Application Parameter of this RxPDO p Do Map the valve s pressure actual value lt PrsActualValue gt index sub index 0x6381 1 as third application parameter of this RxPDO Even if you do not need a pressure value for your application the length in bytes of the RxPDO in the master must fit to the length of the corresponding TxPDO in the valve In this case use a 16 bit dummy parameter for receiving gt Do Activate the TxPDO on the valve by setting the corresponding TxPDO event timer index sub index 0x1800 5 and transmission type index sub index 0x1800 2 suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 26 Getting Started Digital Control Valves 4 Fieldbus configuration Link the application program s parameters to the fieldbus Check To check whether the PDO configuration is correct the network must be started This is described in the next subchapters 4 5 Link the application program s parameters to the fieldbus Depending on the fieldbus master there are different ways to send values to the slave devices Some masters allow sending values before starting an application program If so the network can be started and setpoints can be configured by hand in the network configuration e g the free run mode of TwinCAT c Chapter 10 2 EtherCAT network configuration with TwinCAT master page 71 In this case the values can be set in the paramete
83. interface This interface is the link between the input source and the actual value conditioning Within the pressure controller the S conditioned value source must be selected Y Configuration of the input path 9 c Chapter 7 9 1 Pressure setpoint value page 41 2 6 1 Fieldbus pressure sensor interface optional The valve can use the fieldbus interface to read in a pressure transducer value In this case the Transducer Port index sub index 0x4032 0 has to be set to a parameter mapped to a receive PDO Note that you need to have an ACV Firmware ACV valve to do this suoneoiddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 17 Getting Started Digital Control Valves 3 Introduction Fieldbus NMT and Device State Machine DSM 3 Introduction Fieldbus NMT and Device State Machine DSM After the electrical connection power supply and setpoint signal to the valve has been completed the next step is the configuration of the network communication as described in the following chapter 4 uonelrejsul For better understanding of the next steps this chapter explains the valve s state machines in general terms The valve has two state machines for the main control of the valve s behavior A Network Management State Machine NMT to synchronize the network communication between the valve and the fieldbus master only for valves with fieldbus interface A Device State Machine DSM to cont
84. ion file Network state stays at PRE OPERATIONAL and will not get SAFE OPERATIONAL Probably the master is configured to Stay at PRE OPERATIONAL until Sync Manager is running In this case the PLC program must be started to enable PDO transmission and to enable the master to enter the OPERATIONAL state The network state is OPERATIONAL but all PDO parameters are zero Depending on the master configuration the process parameters are updated only if they are mapped and the PLC program is running The link LEDs are yellow but the AL state will not get PPRE OPERATIONAL Checkif the working counter WcState of the valve is greater than zero Probably one of the nodes between the valve and the master node is defect and destroys the data packages Disable all slave nodes and re enable one by one CANopen A PDO will be received but the signal shape of the spool position setpoint value 0x6300 00 does not look like the setpoint signal in the PLC controller Check the byte ordering in the PDO CANopen slave node has switched back from OPERATIONAL to PRE OPERATIONAL by itself Check for RPDO timeout in the parameter preerrfld 0x1003 Network state will not become OPERATIONAL Application Instruction DCV CDS45379 en Version August 2015 PDO configuration data length on master and slave side The type of valve in the node list of the master If applicable deactivate
85. ionaler Feldbus Schnittstelle Baureihen D67xK Gr en 05 bis 10 Manual Pilot Operated Proportional Valves with Integrated Digital Electronics D67xK Series ATEX IECEx Mounting and Installation Notes pQ Proportional Valves D941 2 3 4 Series CDS29588 en English B97072 941 German ATEX Pilot operated Digital and Axis Control Valves Series D67xK Sizes 05 to 10 pQ Proportionalventile Baureihen D941 D942 D943 und D944 Manual Manual Pilot Operated Proportional Valves with Integrated Digital Electronics D94xK Series ATEX IECEx CDS29589 en English ATEX Pilot operated Digital and Axis Control Valves Series D94xK Sizes 05 to 10 Manual Vorgesteuerte Proportionalventile mit Integrierter Digitaler Elektronik Baureihe D94xK ATEX IECEx CDS29589 de German ATEX Pilot operated Digital and Axis Control Valves Series D94xK Sizes 05 to 10 Manual Digital Control Valves with CANopen Interface Firmware B99224 DV016 B 21 1 CDS33853 en English Digital Interface Valves with CANopen Interface Firmware Manual Manual Digital Control Valves with EtherCAT Interface Firmware B99226 DV016 B 21 1 CDS33722 en English Digital Interface Valves with EtherCAT Interface Firmware Manual Axis Control valves with CANopen Interface Firmware B99224 DV016 D 21 1 CDS45934 en English Axis Control valves with CANopen Interface Firmware Manual Manual Digital
86. is box are only transd in pipe A 0x34040010 effective for the choosen transducer interface number lt InterfaceNumber gt 0x6101 Analog input 0 U 0x320400 j 2 Analog input 1 3 49 p 0282000010 Sign lt ActueValue4 gt o 0x6103 0x6113 O o lt ActueValue3 gt Analog input 2 EEE 06112 oc Ox32440010 0 No transducer function 1 lt ActueValue2 gt 5 o gt gt 0x6111 2 Analog direct eo Oo X Analog input 3 x T 0x321C0010 2 Pressure transducer Pressure actual value scaling lt MinimumPressure gt 0x6120 THEIR lt Type gt 0x6102 lt MaximumPressure gt 0x6121 alag Input PressureOffset 0x6123 LL 032240010 MaximumTransducerSignal 0x6124 dp lt MinimumTransducerSignal gt 0x6125 5 Field bus or O alls o Local CAN 9 Any signed 16 bit param from the Ox object dictionary o 4 7 S 3 Y o lt TransducerPort gt 0x3264 2 Y t0 1 pen O lt InterfaceNumber gt 0 0x6101 lt CylinderPistonDiameter gt Y 2 lt CylinderRodDiameterB gt Y 2 0x585F 0x585E lt CylinderPistonDiameter gt 2 lt CylinderRodDiameterA gt Y 2 0x585F 0x585D I e 3 c 4 O lt ActiveTransducerinterfaceAreaB gt Ox230F N Pressure actual value path i m lt ActualValue1 gt Interface 1 0x8110 L lt ActualValue2 gt Interface 2 0x6111 lt ActualValue3 gt interface 3 0x6112 lt ActualValue4 gt Interface 4 0x6113 gt lt ActiveTransducerinterfaceAr
87. ital value Analog value index sub index slot index Spool position setpoint 16384 gec 16384 gec 10 V 10 V 0x6300 1 21 21 value 100 100 4 20 mA 214 4214 10 10 mA Spool position actual 16384 dec 16384 dec 4 20 mA 0x6301 1 218144 value 100 100 214 214 Table 9 Setpoint value ranges Application Instruction DCV CDS45379 en Version August 2015 27 uone ejsu U e o e o eR e 2 ay 2 a toy c 9 suonesilddy jeioeds sonsoubeiq OONdeAOW suoneoi ddy ajduwexy Getting Started Digital Control Valves 4 Fieldbus configuration Start the fieldbus network 4 6 Start the fieldbus network This chapter describes how to start the CANopen or EtherCAT network How to start the valve application is described in the following chapter Danger of personal injury and damage to property due to unexpected or accidental operation This might lead to an uncontrolled and or unpredictable operational sequence of actuators or of the overall machine Before setting the state machine to ACTIVE make sure the machine and hydraulic pump is off the hydraulic system is depressurized the accumulators are unloaded i e contain no oil and the actuator cannot move due to external loads gt If automatic control technology is to be used the user should in addition to all the potentially available standards or guidelines on safety engineering installations consu
88. its actual values The last step is to start the application D rogram S prog Q a dwex3 gt e pl o e 7 Application Instruction DCV CDS45379 en Version August 2015 7T Getting Started Digital Control Valves 10 Example applications with different network masters EtherCAT network configuration with TwinCAT master gt Do Start the PLC application BB TwinCAT PLC Control MoogValve pro a oog Datei Bearbeiten Projekt Einf gen Extras JORIRBI Fenster Hie E sn Hm TEE E So sear FS UWEU oles MOOG Hydraulic Valve g Ei 3 578 z2052 Tipi Syste Breakpoit Dialo Systel TRIANGLE T 2s0ms 12000 Strg F5 1 15ms 10Sek TRIANGLE E foun wenn recs 755925 NENEEN ME SchrebenjForcen Dilog Strg Umschak F7 16384 Ei SAWTOOTHRISE 1000 16304 Aufrufhierachie Ablaufkontrolle SAWTOOTH FALL Quellcode laden RECTANGLE SINUS 12000 mmm uu I 116384 446000 E LEFT FUN El LEN FUN REPLACE FUN RIGHT FUN CU BOOL QU BOOL i CD BOOL QD BOOLL BESET BOOIsae Cv WoBDL Target Local 1272525 1 1 1 Lazet 1 ONLINE SIM LAUFT EP FORCE UE LESEN Figure 40 Starting the PLC application Now the network and application is running and the application can be used 10
89. k is configured the same Check the maximum permissible length of the CAN wire depending on the configured bitrate On powering on the valve it sends automatically a boot up message with its configured Node ID Check this message with a CAN monitor program Check the bus load using a network monitor program e g the Minimon delivered with the IXXAT CAN to USB interface Detection of reasons for CAN error Checking CAN controller status error counters frames on the bus Disconnecting one device and testing whether rest of the network works correctly Sample point within specified range of nominal bit time Exceeding of max stub line length 0 Q 2 o 7 o 7 CANopen telegrams are transmitted Check the configured Node ID on the CAN bus but not received by the valve No SDO transmission is possible Correctly applied COB IDs Evaluate error SDO abort codes Network state does not become PRE Evaluate error history 0x1003 OPERATIONAL Evaluate emergency message codes OINIENON Network state becomes PDO Configuration process data configuration in the slave and master OPERATIONAL but the setpoint Device mode must have configured Setpoint input via Bus If the Local value in the valve stays zero Control Mode is set to Control Word via Bus then the control word has to be set via Bus Error messages in Logger Output of the master Error parameter of the valve SDO index 0x1003 0x2832
90. list EtherCAT Problem Check No hardware Link NS LED is dark Fieldbus cable and plugs Typical errors corroded or broken wires bad contacts The connected nodes e g master node have no supply power gt User Manual Electrical Interfaces CA63420 001 Chapter 5 Status display and Chapter 4 3 Field bus connectors X3 X4 Master network card has not been enabled LEDs L A in or LA out is off flickering on blinking fast Probably no physical connection for details see gt User Manual Electrical Interfaces CA63420 001 Chapter 5 2 3 Valves with EtherCAT interface Any problem The log messages on the network master This can give a hint for configuration mismatches For TwinCAT The Log window can be activated with the menu View Show Logger Output For MSC Il Start the MSC web interface by typing the IO address into the path field of a browser On the main page of the MSC click on MACS Logging in the sector Diagnostics Network state does not become PRE OPERATIONAL If you use TwinCAT The TwinCAT System Manager has no connection to the TwinCAT runtime system Start the TwinCAT Runtime System Check the error messages in the TwinCAT System Managers Logger output for emergency messages The fieldbus topology has been changed without adapting and restarting the configuration in the network master Network state AL status does not become OPERATIONAL Network st
91. losing different control loops such as spool valve position pressure control in port A and p Q control Control loop type is set by a parameter in control mode The factory setting of the control mode is hence always defined by Moog according to the type designation 16 place in the valves type designation as part of the valve s ordering code The fieldbus or analog inputs can be used independently or together for both setpoint and command signal sources Application Instruction DCV CDS45379 en Version August 2015 10 suoneoi ddy sonsoubeiq suonesiddy jeioeds M S uone ejsu OINIENON ajduwexy Getting Started Digital Control Valves 1 Introduction Q Control 1 8 Q Control The Q controller controls the spool position of a servo or proportional valve Hence the user only needs to give a spool position command and an enable signal to the valve The valve integrated electronics of the valve measures the spool position and moves the spool accordingly to the desired position Capability 16th place in the valves type designation Table 2 Q Control LOAD Valve X electronics Fieldbus Communication Analogue signals Q Control PLC Figure 3 Q Control 1 9 p Control The valve is able to also control the output pressure p and Ap pa pp Details about this control mode c Chap 7 9 3 Control mode p and p Q control page
92. lt Stop 00 Internal reference voltage too high D Fault Stop 200 9 Internal current too low e Fault Stop 200 Internal current too high E Counter 77 ES 3 0 Figure 22 MoVaPuCo fault configuration Fault Acknowledgement To switch the valve back to an active state the fault has to be acknowledged Faults can be acknowledged by Forcing a 0 to 1 rising edge on the reset bit bit 3 within the lt ControlWord gt index sub index 0x6040 00 Toggling the hardware enable signal pin 3 of X1 from 0 to 1 c User Manual Firmware Chapter 5 2 2 2 DSM state transitions caused by the enable signal Switching on the power again O lt D gt Q O After acknowledgement the valve enters the state requested by the lt ControlWord gt and enable signal A fault state can only be left if the error cause has been corrected Otherwise the acknowledgement of a fault will immediately lead to a fault reaction again suoneoi ddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 63 Getting Started Digital Control Valves 8 Diagnostics troubleshooting Diagnostics troubleshooting valve application Valve Application Device State Machine DSM When the valve is in a fault state the DSM enters a corresponding fault state 2 Valve Application State Machine S mo E N
93. lt the manufacturer of the components used in great depth uonelrejsul iw o ST oo oz Oo oc 50 eL o p Do Make sure the hydraulic pressure is switched off Do Switch on the supply power 24 V for the valve Do Switch on the supply power 24 V for the fieldbus master machine controller y Do Make sure the HW Enable signal is switched on suonesilddy jeioeds Check The MS LED is green blinking or constant on Check The NS LED is yellow or green blinking or on Do On the network fieldbus master switch the network state machine to PRE OPERATIONAL sonsoubeiq Check The valve s network state has switched to PRE OPERATIONAL NS LED green blinking o 1 o0 4 This indicates that the hardware of the network connection has started successfully The bitrate settings are OK and node addressing has been configured successfully The non cyclic communication is available Check The log messages on the fieldbus master This can give a hint for configuration mismatches gt Do On the fieldbus master switch the network state machine to the state OPERATIONAL Check The network state OPERATIONAL has been entered the NS LED is constant green This indicates that the cyclic PDO communication is available and started successfully The valve receives the control word and a spool position setpoint value OINIENON suoneoi ddy ajduwexy Application Instructio
94. n DCV CDS45379 en Version August 2015 28 Getting Started Digital Control Valves 4 Fieldbus configuration Start the fieldbus network Check o If the NMT state machine still stays in PPRE OPERATIONAL there may be a problem with the PDO mapping Chapter 8 Diagnostics troubleshooting page 54 2 S gt Do D Start the cyclic network communication Set some distinctive commands like 0x1122 for the zs setpoint value or 0x0104 for the control word With these values it is possible to distinguish every single byte within the data package Check Verify the functionality checking the Status Word and the spool actual value transmitted with the TxPDO from the valve to the master Now the network configuration has been finished and the valve can be controlled via fieldbus The next chapters describe special aspects of configuration With this the valve s behavior can be adapted to specific applications iw o lt n oo oz Oo oc 50 eL o OINIENOWN sonsoubeiq suoneoiddy jeioeds suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 29 Getting Started Digital Control Valves 5 Device control 5 Device control To activate spool control the following conditions must be met The enable signal which enables the power stage of the valve must be on The valve s Application State Machine must be set to HOLD or ACTIVE by setting the control word to ACTIVE
95. neeennnnennnn n nnn 16 2 6 Pressure sensor connected to the analog interface optional 17 2 6 1 Fieldbus pressure sensor interface optional ssseee 17 3 Introduction Fieldbus NMT and Device State Machine DSM 18 3 1 Network Management State Machine NMT eee 19 3 2 Device State Machine DSM eese cren 20 4 Fieldbus cOnfiguration a nee 22 4 1 Configuration files cere ee ern 23 4 2 CANopen baudrate and Node ID configuration nussssennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 24 4 3 Parameterization SDO 1 1 cicero iieri cereo tenne cree ana een kan nn nn nn nenn 24 4 4 Cyclic communication PDO eeeeeeeeeeeeeennnennnenennn nnne nnne nennen nnne nnn nn nnn nennen 25 4 5 Link the application program s parameters to the fieldbus esses 27 4 6 Start the fieldbus network eeeseeeeeeeeeeeeeeeenee nennen nennen nnn nnn nnn nnne nnn nnn nenne nnn nnn nnns 28 5 Device Control nani sen 30 6 Storing and loading of settings eeeeeeeeeeeeessss 31 6 1 Data storage in non volatile memory of the valve electronics eee 31 6 2 Saving of the parameter settings on the PC uunssusnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn
96. nejje suj BY Traceautzeichnung Fieldbus slot enpty SLOT 2 Watch und Rezepturverwalter SoftMotion disable SLOT Knatennummer 2 AR Zeiysteneistehngen qplandpenllaster WideCAN SIOT Eingoheadtesse 88085 Erz Ausgabeadresse Diagnossadresse 2M88 Komentar U c lt T 3 O z o Oc Nc 25 0 EL iij Steuerungskonfiguration Mot ionController A BI H Digital 1 0s FIX Basisparameter CAN Parameter BP License Key FIX EtherCAT Master FIX Baudrate 500000 gt Fieldbus slot empty SLOT SoftMotion disable SLOT B e CanOpenMaster WideCAN SLOT B DIV EDS VAR Com Cycle Period usec 0 Sync Window Lenght usec O EI NOBAD96 Can Output Sync COB4D 128 aktivieren IV AT 4QU2048 UINT Device ControlWord COBId 0x207 TxPDO_2_ControlWord AT 4QW2050 UINT Device ControlVord COB Nodeid 1 TxPDO 2 SpoolSetpoint AT 4QU2052 INT SplSetpoint COBId 0x3 EEEEEESTTOET GBase Sd 8 ecc rns inno sm ole es 1 00s PLC_ERG mu suoneoiddy jeioeds HB ecerungikonfquation Betpareter CAN Parameter OO Hazong Enpangen PDO apoirg Senden Servos Data Beca pS aere EthorckT WastorFIN E t enpts SLOT geemp DCF schen 7 Ale S00 erzeugen F z Nadozund m Feo Gueacomo finas Te re 7 gemere Heston Ensehngen Hear adie tne m sonsoubeiq Sr a
97. nnnnnnnnnnnnnnannnnnn 31 6 3 Transmission of configuration data from a data file on the PC to the valve 31 Application Instruction DCV CDS45379 en Version August 2015 i Getting Started Digital Control Valves Table of contents 7 Adaptation to special applications eeeeessseeesses 32 7 1 Changing the control modes pressure control pQ Control delta p flow control 32 7 2 Changing the source of the Q Setpoint value eeeeeeenneeen nem 33 7 3 Changing the source of the control word eeeeeeeeeeeeneen nennen nennen nnns 34 7 4 PDO monitoring watchdog activation uneensnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnn 34 7 5 Changing the default PDO mapping eeeeeeeeeeeennnneneneennn nnne nnne nennen nnns 35 TO Event harnidler eth Arena 39 7 7 Data logger function generator nunusennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnsnnnnnnnnsnnnnen nennen 39 7 8 Configuration of fault reactions nuesnnnneennennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnn namen 39 7 9 Pressure control 1 eee ii 40 7 9 1 Pressure setpoint value 24444440000nennnnnnnnnnnennnnnnnnnennannnnnnnnnnnnnnnnnnnnnnnennennnnnnn 41 7 9 2 Pressure actual value interface ssssssssseeeeneeeen eene 4
98. ntroduction Essential documentation hard and software for commissioning of DCVs Required Hardware Network Master Automation System Analog Setpoint Signal Moog MSC BeckhoffTwincat Or Siemens Simatic S7 24V Power Supply 24V DC 10A Moog part No D137 003 001 Required Software Software depending on the Network Master Moog Valve and Pump Configuration Software Software Version 2 1 1383 EtherCAT Master And Or Product Version B99464 DV021 A 010 Profibus Master a aeu CANopen Master gt Chap 7 Adaptation to special applications page 32 Check software for installation of the valve Start commissioning Application Instruction DCV CDS45379 en Version August 2015 7 Getting Started Digital Control Valves 1 Introduction Further documentation 1 6 Further documentation This application instruction is part of the complete set of documentation for the servo valve which includes the following documents Moog Document Description of the Type of Document title Number Language Document Document Operating Instructions D636 D638 B95872 001 English D636 D638 Series Servo Manual Series Proportional Valves Montage und Inbetriebnahme B97072 670 German D671 bis D675 Manual Hinweise Baureihen D67 1 2 3 4 5 Proportionalventile Proportional und Servoventile Montage Inbetriebnahme
99. number e g D672 E5704 0001 eds must be copied to the following directory This has to be done before starting the MSC ll application C Program Files x86 MACS 3 3 MACS Targets MACS_V33 MCTRL_V33_lOs CanOpen 3 P 52 gt Do O e Start the MACS development environment 25 S gt Do Open a new project Select Projekt neu 0 Enter Steuerungskonfiguration Motion Controller WideCAN Element ersetzen gt 9 CAN Master S Right mouse click Unterelement anh ngen gt pl n Q D o e Qo o lt o gt O O o duiex3 gt ke D O a Application Instruction DCV CDS45379 en Version August 2015 69 Getting Started Digital Control Valves 10 Example applications with different network masters CANopen network with Moog MSC II Date Bearbeiten Projekt Einf gen Extras Online Fenster Hilfe ajejaj ESF ul 2 Ressourcen pic PRG PRG ST CI Bibliothek lesSteib 13 408 15 51 28 Globale Variableniisten 3001 PROGRAM PLC PRG Bibliothek M_Contolib 28 4 08 16 28 18 Globale Varablerlten ee Bibliothek M Hw MSC Lib 612 1056 10 Globale Varisbleniisten uam Globale Variablen y 8 Alamkonfiouration 2 Arbeitsbereich ip Eibiotheksverwater GB Steuerungskonfiguration E Logbuch B gallotioncontroller H Digital I 0s FIX Basisparameter CAN Parameter EM License Key FIX Eg EthezCAT Master FIX Modulld 70501 uo
100. o Check 3 Q Read out the analog pressure setpoint value analog input 1 value index sub index 0x320C 00 and check that it corresponds to the analog input value gt Do Select the device mode index sub index 0x6042 00 2 for setpoint input locally gt Do Check that the pressure source setpoint parameter prspar index sub index 0x3310 0 is set to Analog Input1 value 0x320C0010 Check Read the pressure demand value index sub index 0x6390 01 and check that it corresponds to the analog input value 7 Lo o s Le ri 9 Er 5 7 ODNAIENOIN sonsoubeiq suoneoi ddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 42 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control 7 9 2 Pressure actual value interface The actual pressure can be measured with the valve s internal pressure transducer factory default or with an external analog or fieldbus pressure transducer 4 Transducer interface uonejle su 3 Transducer interface 2 Transducer interface 1 Transducer interface Internal pressure All parameters in th
101. o o 35 HW Konfig SIMATIC 300 Station Station Bearbeiten Einf gen Zielsystem Ansicht BES Fenster Hilfe Dlej2 IEA sal L vin adn Einstellungen Ctri Alt E Netz konfigurieren ME SN CATE katalogprofile bearbeiten Katalog aktualisieren o 1 HW Updates installieren lt Z pe A DP Stations G5D importi n ystemM UI 3 4 DO15 DC24v 0 5A gg 6 DIV O 5 1 9 Figure 50 Installing slave interface description file GSD a dwex3 gt e pl o e 7 Application Instruction DCV CDS45379 en Version August 2015 84 Getting Started Digital Control Valves 10 Example applications with different network masters Profibus S7 Siemens Check The valve is displayed in the list of slave devices E SIMATIC SIMODRIVE E SIMOREG SIMOVERT E SIPOS Weitere FELDGERATE g Allgemein q va Y Ventile Moog E cog DV 7 9 Universalmodul lj Std Tel 1 lj Std Tel 2 3 Std Tel 3 Il Std Tel 4 4 Std Tel 5 lj Std Tel 6 ld Moog Tel 100 3 Moog Tel 101 lj Moog Tel 255 ld Par Chn Gateway 19 SPS AA Kamnatihla Prefibu ie YD Lac Figure 51 Checking slaves list gt Do Configure the Node ID of the valve using the following menu a SIMATIC 300 Station Konfiguration DivPro_1 Duns 1 __PROFIBUS 1 DP Mastersystem 1 _ ri DO16xDC24V 0 54 Eigenschaften DP Slave Allgemein Parametiieren
102. oid faults due to oil contamination it is essential to check the oil quality e and improve it if necessary by appropriate means such as flushing or D additional installation of filters gt The NMT state is OPERATIONAL Check the configuration of the demand signal path configured with the Service E but the spool does not follow the Data Objects SDO devmod 0x6042 ctlwrd 0x6040 ctlmod 0x4043 For al setpoint more details see t gt User manual Firmware Chapter 6 2 3 Spool position setpoint value path o 5 n Table 26 Valve Application checklist o Q gt o 7 o 7 OINIENON suonesiddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 65 Getting Started Digital Control Valves 9 Moog Valve and Pump Configuration Software MoVaPuCo Requirements 9 Moog Valve and Pump Configuration Software MoVaPuCo The Moog Valve and Pump Configuration Software MoVaPuCo is a PC based program which allows convenient access via the Moog Service Interface connector X10 to configuration and set up of digital controlled valves DCV and pumps with digital control RKP D The factory settings of the digital interface valves match for most applications However the settings can be adjusted to fit your individual needs if necessary Therefore the MoVaPuCo allows easy access to a variety of parameters Last but not least it is a diagnosis tool for valves The following information and imag
103. oint value in the valve has The bus cycle time is configured properly It will be configured in the fieldbus S steps whereas the source values on master gt the PLC are strictly continuous 1e po Table 22 Fieldbus checklist CANopen only part 2 of 2 eo 2 O 5 n 0 Q 2 o 7 o 7 OINIENON suonesiddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 57 Getting Started Digital Control Valves 8 Diagnostics troubleshooting Diagnostics troubleshooting fieldbus EtherCAT 8 3 Diagnostics troubleshooting fieldbus EtherCAT If the slave node does not enter the OPERATIONAL state the following AL status code gives an indication of the error source This status register is supported in DCV valves since Sept 2013 This status registers are displayed in the network master in logging window or in the slaves memory in the Advanced Settings window AL status code register 0x123 0x135 Current state Status code Description or state change Resulting state 0x0000 No error Any Current state 0x0001 Unspecified error Any Any E 0x0011 Invalid requested state change gt S I gt O P gt O O gt B S Current state E gt B P gt B 0x0012 Unknown requested state Any Current state E 0x0013 Bootstrap not supported gt B I E 0x0014 No valid firmware l gt P I E 0x0015 Invalid mailbox configuration gt B I E 0x0016
104. ol Word either the fieldbus interface or a locally configured control word can be used 1 control word local lt ControlWord gt 0x6040 ControlWord Device State Machine DSM a m ___ lt LocalControlWord gt 0x4040 Local 0x604F Figure 10 Local mode lt LocalMode gt index sub index 0x604F 0 Profibus 02141 Value Local mode Control Word via Bus In this case the lt ControlWord gt index sub index 0x6040 0 is effective as control word source Control Word Locally In this case the lt LocalControlWord gt index sub index 0x60xx 0 is effective as control word source Table 12 Local mode values Analog driven valve The source of the Control Word is always set to valve internally lt LocalMode gt index sub index 0x604F 0 Control Word Locally The effective Control Word is given by the parameter lt LocalControlWord gt index sub index 0x4040 0 Per default it is set to ACTIVE state For normal operation the user must not care about it Fieldbus driven valve The source of the Control Word is always set to fieldbus lt LocalMode gt index sub index 0x604 F0 Control Word via Bus The effective Control Word is given by the parameter lt ControlWord gt index sub index 0x6040 0 For special purposes the initial value of the Local Control Word during power on can be configured using the parameter lt LocalControlWordDefault gt index sub index 0x403F 0 7 4 PDO monitoring
105. on can be activated control mode 5 p Q Control For more details see c User Manual Firmware Chapter 7 1 Control modes For initial operation the following steps are recommended 1 Configuration of the setpoint inputs c Chapter 7 9 1 Pressure setpoint value page 41 2 Configuration of the actual value sensor interfaces c Chapter 7 9 2 Pressure actual value interface page 43 3 Configuration of the pressure control mode c Chapter 7 1 Changing the control modes pressure control pQ Control delta p flow control page 32 4 Configuration of the pressure controller itself c Chapter 7 9 Pressure control page 40 We recommend to initially start with a pressure setpoint value of 100 which effectively disables the pressure limiting control and permits control of the valve with the spool position setpoint Once this flow control operation is satisfactorily confirmed the pressure control can be checked by setting the pressure setpoint to that required by the application Setpoint and actual value CANopen Profibus range Analog value Digital value index sub index slot index Controlling pressure in both directions port A and B gt User Manual Firmware Chapter 7 7 1 Object Ox586C N pQ switching mode Pressure setpoint value 10 V 10 V or 4 20 mA 16384 gec 16384 ec 0x6380 01 22 21 100 100 914 4214 Pressure demand value 0x6390 01 22 24 Pressure actual value 0x6381 01 22 144
106. on of the Type of Document title Number Language Document Document Technische Notiz TN353 CA58437 German TN 353 Technical Note Schutzerdung und Schirmung von Potenzialausgleich und Hydraulikventilen mit integrierter Schutzerdung bei Elektronik Hydraulikventilen mit integrierter Elektronik Benutzerinformation Baureihe D67x CA75181 002 German User Manual D67x Manual vorgesteuerte Proportionalventile mit integrierter digitaler Elektronik Servo Proportional Valves Pilot CDL28319 en English Catalog D671 D672 Catalog operated with integrated digital D673 D674 D675 Series electronics and Fieldbus Interface Drive Servo Proportional Series D671 to D675 Valves with Integrated Digital Electronics and CAN bus interface User Manual Firmware Radial B99224 DV007 English Firmware Manual Radial Manual Piston Pump RKP D with CAN Bus CE400 Piston Pump RKP D with Interface CAN Bus Interface Direktgesteuerte Servoventile mit CA45707 002 German Direktgesteuerte Catalog integrierter digitaler Elektronik Servoventile mit integrierter D636 D637 digitaler Elektronik D636 D637 Table 1 Further documentation part 3 of 3 To download the documents for valve documentation use the following link www moog com literature search To download Moog Software use the following link www moogsoftwaredownload com 1 7 DCV Digital Control Valve capabilities The integrated digital control electronics of Moog valves is capable of c
107. ontrolWord gt O control word from bus X J 0x6040 i m a TR7 TR2 gt TRIS TRO n H ControlWordit es Y o Hm gt DISABLED FAULT_DISABLED 1R12 me en R state RMHD 1001 7810 state RMHD 0001 zu 2 a toy c 9 Local 0x604F y N t 2 gt 4 ZE TRS TRS m TAM TRIS U e o e o eR e 2 r Va z 5 HOLD V FAULT HOLD TatusWord gt 0x6041 HR state RMHD 0011 y S Ju N R Bit Ready Bit 3 R Bit Reset faults Bit 3 ry u ry nt M Bit Active Bit 2 M Bit Active Bit 2 TRS TRA TRO TRE H Bit Hold Bit 1 H Bit Hold Bit 1 y D Bit Disabled Bit 0 D Bit Disabled Bit 0 dad ACTIVE FAULT_REACTION V state RMHD 1111 889 state RMHD OX ControlWord R state RMHD 1011 X 5 3 n lek gt lt TAN Figure 7 Device State Machine DSM Status word bits Description suoneoiddy jeioeds NOT READY The electronic circuit has power Device initialization running e g communication interface hardware software Device function disabled Hydraulic failsafe spool position as specified in model code Device parameters can be set Device function disabled Hydraulic failsafe spool position as specified in model code sonsoubeiq DISABLED Device parameters can be set Device function disabled Actual
108. open incl EtherCAT CoE networks The emergency message is a CANopen event triggered protocol used to indicate faults indicated by the slave device Each occurrence of an error initiates an emergency message It is only sent once when it occurs When the error recovered an emergency message with code 0 is sent Byte 2 Description Moog specific error code Error Emergency error code register User Manual Firmware Chapter 8 1 4 Error codes depending on fault codes Power on time Fault code in minutes gt User Manual Firmware Chapter 8 1 2 Possible fault codes Table 19 Emergency message For more details about the emergency message see c User Manual Firmware Chapter 8 1 9 Emergency message For EtherCAT Devices additional emergency error codes are defined for indicating SyncManager configuration problems In these cases the error register and Moog specific error code have different meaning The error register contains the network state in whilst the error occurred Byte 7 3 2 1 Diagnose code Error register Emergency error code Diagnose SM 0 mailbox read State of the Network State 0xA000 data Machine Transition from PRE 0x00 Odd address not allowed 0x01 Initializing OPERATIONAL to SAFE OPERATIONAL 0x01 Invalid address 0x02 PRE OPERATIONAL failed 0x02 Invalid size 0x03 SAFE 0xA001 OPERATIONAL Transition from SAFE 0x03 In
109. or or Connection Cable 11 PE Moog part No B97067 111 mating connector metal IP65 as per DIN EN 175201 804 usable cable with min Y 11 5 mm 0 45 in and max Y 13 mm 0 51 in Moog part No C21031 003 001 cable for valve connector X1 with 11 PE pin mating connector length 3 m 9 8 ft Required Hardware X3 X4 Fieldbus Interface depending on valve type Gt Profibus Cable M12 femal male B coded Terminating Resistor for last valve in the fieldbus chain gt gt X10 Service Interface depending on valve type CA40934 001 M12 Male a coded to M8 female eu N CAN adapter cable 9 pin D Sub socket to M12 Moog order code TD 3999 137 USB to CAN adapter card Moog order code C43094 001 X3 X4 Fieldbus X X4 FieldbusInteface depending on valve type Ethercat and Varan Cable M12 male D coded M12 to RJ45 Adapter for fieldbus connections X5 X6 X7 Analog Inputs Cable M8 male Xyz coded oe TS X3 X4 Fieldbus Interface depending on valve type CANopen Cable M12 male A coded Terminating Resistor for last valve in the fieldbus chain e Check essential hardware for installation of the valve uone jeisu o31u02 so naq snqpietj suoneoiddy jeioeds sonsouBeiq OINJENON suoneoiddy s dwex3 Getting Started Digital Control Valves 1 I
110. ord Mapping of ApplObj 1 0x6040 control word 0x6040 control word 0x6040 control word Mapping of uint32 ApplObj 2 0x6300 spool position setpoint 0x6380 pressure setpoint 0x6300 spool position setpoint Mapping of ApplObj 3 0x6380 pressure setpoint Mapping of uint32 ApplObj 4 Mapping of uint32 ApplObj 5 Mapping of uint32 ApplObj 6 Mapping of uint32 ApplObj 7 uint32 Mapping of ApplObj 8 Table 13 Default Receive PDO mapping Application Instruction DCV CDS45379 en Version August 2015 36 uonejje suj o31u02 eoi eq 7 Lo O s Le ri 9 Er 5 7 snapjelg sonsoubeiq OONdeAOW suoneoi ddy e duiex3 Getting Started Digital Control Valves 7 Adaptation to special applications Changing the default PDO mapping Default Transmit PDO mapping TxPDO 1 TxPDO 2 TxPDO 3 TxPDO 4 m 2 Index 0x1A00 Index 0x1A01 Index 0x1A02 Index 0x1A03 v Mapped Mapped Mapped Mapped S parameter parameter parameter parameter E Number of uint8 mapped Obj Mapping of uint32 0x6041 0x6041 0x6041 0x6041 ApplObj 1 status word status word status word status word Mapping of uint32 0x6301 0x6301 0x6301 s O ApplObj 2 spool position pressure spool position o actual val actual value actual val E 7 Mapping of uint32 0x6301 zZ ApplObj 3 pressure a actual value 2 0 er Mapping of uint32 o ApplObj 4 M
111. pressure changes where the valve size is not E 7 the limiting factor It may mean that a larger valve is needed a c gt Do zi 5 After the initial tuning of the CH value it is probably needed to fine tune the controller o Do Actual value filter adjustment the actual value of the pressure transducer can be filtered 7 with this low pass filter Corner frequency in Hertz 1 s filter order is set to 1 as default E O Note the value must be greater than 10 Hz but attention too low frequencies here result in 2 phase lag of the control value gt he gt Do Integrator Gain 1 s classic integrator gain t gt Do a I control range active window the window where the integrator gain is working For example a value of 0 1 would cause the integrator to work fully when command and actual pressure value differs less than 10 Outside this window the integrator gain is multiplied with the Factor Q gt Do S I gain Factor depending on the Integrator Control Range and the Factor the user can set 2 the integrator to work with different gain Here the logic is if the command value actual value o differs less than range then integrator gain integrator gain otherwise the integrator gain Factor integrator gain gt Do Integral part upper and lower limit Controller upper limit range 0 100 96 z Controller lower limit range 100 0 2 A The integrator can be limited in positive and nega
112. r Warns about a possible situation dangerous to health Failure to observe this warning can cause slight injuries gt Make absolutely sure to heed the measures described to prevent this danger Failure to observe this safety notice can result in property damage Identifies important notes that contain usage tips and special useful information but no warnings or Identifies listings gt Identifies an action that must be taken gt Identifies references to another chapter another table or figure Mole Denotes headings to the chapters or titles of the documents to which reference is being made Blue text Identifies hyperlinks Molt Identifies steps in a procedure that must be performed in consecutive order em Identifies parameters for valve software e g Node ID or the valve status e g ACTIVE Do Identifies next action next step to do Check Identifies check e g requirements and conditions on hardware software Application Instruction DCV CDS45379 en Version August 2015 4 snapjelg suoneoiddy jeioeds sonsouBeiq OINJENON suonesiddy e duiex3 Getting Started Digital Control Valves 1 Introduction Structure of the warning notes 1 4 Structure of the warning notes In the present application instruction danger symbols draw attention to existing dangers in the handling of valves that are inherent in the design of hydraulic equipment The actions for avoiding danger describe
113. r 7 9 Event handler 7 7 Data logger function generator The data logger is a four channel oscilloscope to trace the parameters inside of the valve The parameters which are monitored can be chosen The trigger condition pre trigger trigger level slopes and scaling can be set o31u02 eoi eq snqpjel4 The valve s internal function generator can be used to generate a periodic signal with specific shapes thereby enabling an engineer or technician to test and examine a valve The data logger and the function generator can be accessed using the MoVaPuCo For more details see User Manual Firmware Chapter 7 10 Data Logger and Chapter 7 11 Function Generator 7 8 Configuration of fault reactions To adapt the behavior to the application for each cause of fault a separate fault reaction can be configured forcing a specified behavior of the valve 7 Lo O E e ri 9 Er fe 7 For more details see gt User Manual Firmware Chapter 8 Diagnostics ODNAIENOIN sonsoubeiq suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 39 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control 7 9 Pressure control With the pressure controller the pressure on port A or B of the valve can be controlled control mode 4 Pressure Control Closed Loop Alternatively a combined spool position control with pressure limitati
114. r X2 Incremental Encoder Description Description power Description position of commissioning interface supply enable signal rotary drive O Oo O m X3 X4 Fieldbus Interface Description fieldbus o interface to superior system O a er o o X5 X6 X7 Analog inputs Description pressure transducer U X12 Strain Gauge Input D Description force e measurement o o Oo o Figure 4 Connectors Because of the large number of different connectors and pin assignments for the Moog valve range the electrical commissioning is described in a separate document containing general information about the individual connections c User Manual Electrical Interfaces CA63420 001 Chapter 4 Electrical Interfaces Detailed information about special topics like cable length shielding building up voltage supply a systems and fieldbus networks is described in the following technical notes S CA58437 001 Technical Note TN353 O Protective Grounding and Electrical Shielding of Valves CA48851 001 Technical Note TN494 Maximum Permissible Length of Electric Cables for Valves with Integrated Electronics suoneoiddy s dwex3 Application Instruction DCV CDS45379 en Version August 2015 12 Getting Started Digital Control Valves 2 Electrical installation cabling Main connector X1 2 1 Main connector X1 gt Do Prepare the main connector and cable The connector and cable must match the valve X1 connector a
115. r supply 24 V and connectors 3 Check polarity of 24 V 5 MS status LED should be on or blinking o Requested state ACTIVE with the Check the ready bit 3 in the status word 0x6041 2 ControlWord 0x6040 but actual state Check parameter lt StandardErrorField gt index sub index 0x1003 1 8 m of the valve application state machine E stays in INIT Requested state ACTIVE with the Check the hardware enable signal pin 3 of X1 ControlWord 0x6040 but actual state Check if DSM is in state FAULT DISABLED or FAULT HOLD If so check of the valve application state machine parameter lt StandardErrorField gt index sub index 0x1003 1 8 stays in DISABLED or HOLD The setpoint value is received in the Check Device State Machine DSM state a valve but the spool does not move Check the hardware enable signal pin 3 of X1 lt T Check the signals within the valve in the following order 3 ol Spool position setpoint value index sub index 0x6300 01 Oo Demand value generators setpoint conditioning settings oc User Manual Firmware Chapter 7 2 2 un Spool position demand value index sub index 0x6301 01 e Controller output index sub index 0x2158 00 The valve is ACTIVE but the spool Check if the oil system pressure is available does not move The spool position With a pilot operated dual stage valve check that the supply pressure for the control deviation is out of the limit pilot system is sufficient nm To av
116. rameters 5 2 y m 3 order lag element z ProportionalPart lt PrsControlDeviation gt Feed forward 0x63D0 lt PrsDemamdValue gt preload IntegralPart reor d U 6390 02310 2 E qa an Integral element 4 s Alpha correction Signal limitation 1 Signal limitation 2 4 2 Nc 30 lt ActualValue1 4 gt imei Q 0x6110 0x6113 Derivative element 1 Pressure transducer selection lt DifferentialPart gt Actual value filter lt DifferentialPart_2 gt lt PrsActualValue gt 3 Derivative element 2 Figure 19 Pressure controller Editable set The pressure controller can store up to 16 different controller parameter sets The parameter lt ActiveParameterSetNumber gt prssetnum index sub index 0x2350 00 defines the active set Note that the active set and the editable set are the same 7 Lo o s Le ri 9 Er 5 7 Pressure Controller Type The pressure controller is either PIDT1 or Advanced The first is a basic PID T1 filter and the S latter uses the System Pressure and Reference Pressure in order to linearize the pressure gn control output around the given reference point D Both pressures given in proportion to the pressure transducer e g with a pressure range on 210 bar the 110 bar reference point would be either 50 in or 8192 in dec p Do Ramp time demand value ramp 5 Automatic parameterization lt
117. re moog com South Africa 27 12 653 6768 info southafrica moog com Spain 34 902 133 240 info spain moog com Turkey 90 216 663 6020 info turkey moog com United Kingdom 44 0 168 4 858000 info uk moog com USA 1716 652 2000 info usa moog com www moog com industrial Moog is registered trademark of Moog Inc and its subsidiaries All trademarks as indicated herein are the property of Moog Inc and its subsidiaries 2012 Moog GmbH All rights reserved All changes reserved GETTING STARTED DIGITAL CONTROL VALVES Application Instruction Version August 2015 Id CDS45379 en MOOG WHAT MOVES YOUR WORLD
118. rk with Moog MSC II configuration seeee mmm 70 Appending a network card 444444444444snannennnnnnnnnnnnnnnennnnnnnnnnnnnnnnennnennnnnnnnnnnannnnnnnennnennene nn 71 Selecting a network card ussssrsnnnnenennnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnsnennnnnnnnennnnnnnnnnnnn 72 Inserting network card pb Ree een etuntiue en ameet 72 SCANNING the Tie BWOFK ss c sisi cased tegere cette rte dre re e ER erg ed ede eta Ed era eoa 73 Process Data Objects PDO mapping sssssssseee eee nnne 73 Linking an application to the PLC program uu essssssssssnennnnnnnnnnennnnnnnnnnnnnnennennnnennnnenn nenn 74 Appending aPC project fax iie toe ibt e dal te eie Hat dc o dad Ee ERO E AL dedu nen 74 PLC configuration with PLC application parameters ssssssmR em 75 Application Instruction DCV CDS45379 en Version August 2015 iv Getting Started Digital Control Valves List of figures Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Figure 47 Figure 48 Figure 49 Figure 50 Figure 51 Figure 52 Figure 53 Figure 54 Linking the process data to the slave device valves setpoint and actual values 75 Setting the network startup options ssssssssssssesseeeen nennen me enne nnn nennen 76 Activating the network configuration
119. rnet wiring with 100 MBit sec Fast Ethernet Table 29 Abbreviations Micro seconds Meter Million bits per second Mega Bit Second Table 30 Physical units Application Instruction DCV CDS45379 en Version August 2015 87 uonejjejsuj oJjuo2 eoi eq snapjelg suonesiddy jeioeds sonsoubeiq OONdeAOW suoneoi ddy ajduwexy TAKE A CLOSERLOOK Moog designs a range of products that complement the performance of those featured in this user manual Visit our Web site for more information and the Moog facility nearest you Australia 6139561 6044 info australia moog com Brazil 55 11 35720400 info brazil moog com Canada 1 716 652 2000 info canada moog com China 86 21 2893 1600 info china moog com Finland 358 10 422 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 2 635 3200 info hongkong moog com India 91 80 4057 6666 info india moog com Ireland 353 21 451 9000 info ireland moog com Italy 39 0332 421 111 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 The Netherlands 31 252 462 000 info thenetherlands moog com Norway 47 6494 1948 info norway moog com Russia 7831 7131811 info russia moog com Singapore 65 677 36238 info singapo
120. rol the behavior of the valve application for valves with fieldbus interface and valves with analog setpoint I O a o a toy c 9 Both state machines are more or less independent Normally the network state machine is started first This will enable setpoint actual value and command exchange between the fieldbus master and the valve With this the valves application can be activated by controlling the valve application state machine Valves without a fieldbus connection start the valve device state machine automatically Jg O 2 fe 2 se EX OINIENOWN sonsoubeiq suoneoiddy jeioeds suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 18 Getting Started Digital Control Valves 3 Introduction Fieldbus NMT and Device State Machine DSM Network Management State Machine NMT 3 1 Network Management State Machine NMT Initialization see uorejjejsuj Figure 6 Network State Machine NMT iw o lt n oo oz Oo oc 50 eL o CANopen network states INITIALIZATION Default state after power on No communication PDO SDO PRE OPERATIONAL Network communication initialized SDO communication is enabled No PDO OPERATIONAL SDO communication is enabled PDO communication is enabled STOPPED No communication with this device is possible Such a device can only react on commanded state transitions which are received via NMT objects
121. rs online tab In the final application the data in the PDO must be linked to a parameter in the application program How to do this is described in the following steps gt Do Link the application output data spool position setpoint value to the network How to do this depends on the specific master and its programming language Commonly used methods are Global defined variables within the application program will be linked to the cyclic communication message using a network configuration tool within the master For PLC programs according to IEC 61131 this configuration is done in the so called IO configuration Special functions for sending and receiving cyclic process data called process data objects or parameter channels are provided with a library For the MSC Master see c Chapter 10 1 CANopen network with Moog MSC Il page 69 For EtherCAT see c Chapter 10 2 EtherCAT network configuration with TwinCAT master page 71 gt Do Configure the master to transmit a control word value ACTIVE 7 to the valve Therefore set the following three bits of the Control Word to 1 Disable D Hold enable H and Device mode active M gt Do Configure the master to transmit a spool position setpoint value between 16384 16384 100 96 to the valve Check After starting the network and the application program see step further down the valve switches to state ACTIVE CANopen Profibus Dig
122. rvoventile mit CDS29587 de German ATEX Direct Drive Digital Manual integrierter digitaler Elektronik and Axis Control Valves Baureihe D636K und D638K Series D636K and D638K ATEX IECEx Size 03 Direktbetatigte Servo und CDS29577 de German ATEX Direktbetatigte Manual Proportionalventile mit Integrierter Servoventile Baureihen Digitaler Elektronik Baureihe D637K D637K und D639K und D639K ATEX IECEx Gr e 05 Direct Operated Servo Valves with CDS29577 en English ATEX Direct Drive Digital Manual Integrated Digital Electronics Type and Axis Control Valves Series D637K and D639K Series D637K and D639K ATEX IECEx Size 05 Mounting and Installation Notes B97072 670 German Engl Proportionalventile Manual Proportional Valves and Servo ish Baureihen D671 D672 Valves D670 1 2 3 4 5 Series D673 D674 und D675 Table 1 Further documentation part 1 of 3 Application Instruction DCV CDS45379 en Version August 2015 8 uonelrejsul 04U09 eoi eq snqpjel4 suonesiddy jeioeds sonsoubeiq OONdeAOW suoneoi ddy e duiex4 Getting Started Digital Control Valves 1 Introduction Further documentation Moog Document Description of the Type of Document title Number Language Document Document Vorgesteuerte Proportionalventile mit Integrierter Digitaler Elektronik Baureihe D67xK ATEX IECEx CDS29588 de German ATEX Vorgesteuerte Proportionalventile mit integrierter digitaler Elektronik und opt
123. s amp Qf Inputs Online Delete Config Mode only i Outputs v WeState El Export Device gt amp InfoData 3 g Mappings IB Import Box Box Name Online Address Type A B Moogvalve langsame X RE Box 1 Servo Valve D672 1001 Servo Yalv Status word stswrd 0x0000 0 2 X cut Ctrex diac Spool actual value splval 0x0000 0 v lt Copy Ctrl C x Ready Local 127 255 255 1 1 1 EMENN Figure 32 Scanning the network Disadvantage of scanning is If the network tree already has some slave devices configured there may be problems with the order of the devices or parameter mapping s could get lost Check Check the pre configured Process Data Objects PDO mapping within the Process Data tab With this mapping the setpoint and actual values are transmitted to the valve This mapping matches the default configuration within the valve It can be changed according to the applications needs Details see gt Chap 7 5 Changing the default PDO mapping page 35 1 B99226 NeueXHL tsm TwinCAT System Manager a Cuy Ele Edi Actions View Options Help Ose X B AB s5ss 5 amp amp 3 9wsasjlme egt BB SYSTEM Configuration z as B PLC Configuration General EtherCAT Process Data Startup CoE Online Online 4 1 0 Configuration S PDO List C Mi 1 0 Devices ync Manager i Me Device 1 EtherCAT SM Size Type
124. s not satisfactory the controller parameters can be tuned individually PIDT 1 In most pressure controller systems the integral part has to be limited and the gain reduced This will make the controller output more P gain dominant and typically reduce overshooting of the system OUOD eoi eq snapier4 gt Do Set the integrator upper limit to 20 96 lower limit to 20 96 p o p Do 2 Set the integrator range to 5 96 he p Do pl Set the integrator factor to 0 1 dec 9 gt Do S 7 Reduce the l gain as necessary In most pressure control systems the D part does not increase the stability of the system You might find it useful for preventing gain originated overshoots In case of load disturbances in the system use the Actual Value Filter to cut the worst disturbances from the actual value Q D J o o O 9o OINIEAON suonesiddy e duiex4 Application Instruction DCV CDS45379 en Version August 2015 53 Getting Started Digital Control Valves 8 Diagnostics troubleshooting CANopen emergency message used in CANopen incl EtherCAT CoE networks 8 Diagnostics troubleshooting The following steps lead you through diagnosis of electrical supply and fieldbus problems First some general hints about diagnosis messages are given followed by checklists which will help to locate or exclude certain errors or problems and determine the reason 8 1 CANopen emergency message used in CAN
125. sing the MoVaPuCo Sending back the values received with RxPDO to the network master and comparing them with the sent values Checking that the spool is moving Indicated by a changing digital output on the fail safe position signal Only for direct driven valves Check that the Control Word is received in the parameter index sub index 0x6040 0 Change the control word from INIT DISABLED to HOLD This switches the 10 kHz motor PWM on This increases the current consumption of the valve significantly Device Mode must be configured Setpoint input via Bus In case the Local Control Mode is set to Control Word via Bus then the Control Word has to be set via Bus Check the valve state machine MS LED follows the Control Word sent via bus Error messages in Logger output of the master Error parameter of the valve SDO index 0x1003 0x2832 The setpoint value in the valve has steps whereas the source values on the PLC are strictly continuous The bus cycle time is configured properly It will be configured in the network master SDO transmission does not work but PDO does Mailbox configuration configured in the valve slave configuration file lt Modelnumber gt xml In the CoE Online window no SDOs are displayed eds file in the masters installation directory could not be found or the name path of the eds file does not match with the corresponding element lt CoE gt in the slave configurat
126. sure sensor could be located internally or externally Externally via analog interface or fieldbus interface Which interface sensor is used has to be selected by configuration Positive Q command opens the valve The Q command is directly linked with the spool command of the valve until then pressure in the hydraulic system reaches the value which is commanded by the pressure command When this happens the pressure controller takes control of the spool position command For instance when a cylinder reaches the end stop of a mechanical system the pressure controller will reduce the spool command roughly to 0 depending on leakage to limit the pressure according the pressure command Hint positive Q command has to lead to pressure increase in the hydraulic system Capabilit 16th place in the valves type designation p y Application Instruction DCV CDS45379 en Version August 2015 48 uonejle su 04U09 eoi eq 7 Lo o s Le ri 9 Er 5 7 snapjelg sonsoubeiq OONdeAOW suoneoi ddy e duiex4 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control LOAD 5 o gmi m p D o 3 Valve i x electronics Jg sz T ST Sa o 2 OBS a 2850 Oo 352 E ges 30 F p and p Q 3 control PLC Figure 17 p and p Q control Pressure controller configur
127. ter lt StoreParameters gt index 0x1010 If the changes are not saved in the valve as described above it will be lost after next power off of the valve electronics 6 2 Saving of the parameter settings on the PC Valve parameters can be saved in a data file on the PC e g to reload them on other valves This is done using the Export Device Parameter function of the MoVaPuCo 6 3 Transmission of configuration data from a data file on the PC to the valve Parameters can be set using the MoVaPuCo s graphical user interface They also can be read by the MoVaPuCo from a data file and transferred into the valve s memory Note that the changes have to be stored as described above Detailed information gt User Manual Firmware Chapter 9 Storing restoring parameters Application Instruction DCV CDS45379 en Version August 2015 31 uonelrejsul iw o lt n oo oz Oo oc 50 eL o OINIENOWN sonsoubeiq suonesiddy eioods suoneoi ddy ajduwexy Getting Started Digital Control Valves 7 Adaptation to special applications Changing the control modes pressure control pQ Control delta p flow control 7 Adaptation to special applications o 7 1 Changing the control modes pressure control pQ S Control delta p flow control 2 5 The control mode can be set using the parameter lt ControlMode gt index sub index 0x6043 0 sn meaning Spool position control open loop Used for test
128. tive direction Hint in applications with slow u moving loads and pressure limiting function it is typically required to limit the integral part in e order to avoid overshooting of the pressure integrator windup gt Differentiator gain and time constant classic differentiator part of PID controller with a possibility to set the time constant in ms gt Do Controller output limit both upper and lower limit of the whole pressure controller can be limited Pressure Controller upper limit range 0 100 96 Pressure Controller lower limit range 100 0 96 suoneoi ddy e duiex4 Application Instruction DCV CDS45379 en Version August 2015 52 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control Check Monitor the controller output the P and D output can be individually and overall monitored cmpprspro 0x2311 00 cmpprsint 0x2310 00 cmpprsdt1 0x2312 00 overall ControllerOutput 0x2418 00 Check Monitor the lt PrsControlDeviation gt index sub index 0x63D0 01 which directly gives the deviation between pressure demand and actual value Keep in mind that between the pressure setpoint and pressure demand is the setpoint conditioning with ramp scaling and filters uone ejsu Practical hints for pressure controller tuning Start the tuning by using the Automatic CH value until you have a stable enough response If the pressure response after the initial tuning i
129. transferred or stored to the application because of the present device state 0800 0024 No data available Table 21 SDO abort codes OONdeAOW suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 55 Getting Started Digital Control Valves 8 Diagnostics troubleshooting SDO abort codes Checklist fieldbus CANopen only Problem Valve has no power all LEDs are dark Power supply 24 V and connector X1 5 gt User Manual Electrical Interfaces CA63420 001 Chapter 4 1 Connector o xq v a Check polarity of 24 V Having power at least MS status LED should be on or o blinking With power connected at least the MS status LED should be on or blinking CANopen network does not transmit CANopen status LEDs any telegram gt User Manual Electrical Interfaces CA63420 001 Chapter 5 2 Network status LED NS u ds O lt II oo eo 9g S5 er je o 07 jo D o v CANopen network does not transmit Check the bus termination 120 Q resistor between signal line CAN_HIGH zZ any telegram and CAN_LOW on each end ofthe CAN bus cable Ifthe resistance between oO CAN HIGH and CAN LOW is more than 65 Q one of the resistors is not o connected correctly or has too high resistance Correctly applied connector wiring E Correctly terminated connector 7 Look for a short circuit between CAN ground and CAN HIGH or CAN LOW Check the bitrate on each device within the networ
130. tronics DCV and ACV Q and p Q functionality and integrated fieldbus interface Products covered Direct driven and ServoJet operated valves Single stage and electrical dual stage Sizes NG6 to NG32 Fieldbusses CANopen Profibus DPV1 EtherCAT Valve series D636 to D639 Direct Driven NG 6 and NG10 Figure 1 Valve series D636 D637 D638 D639 D67x D94x This instruction has as its primary focus the initial parameterization and commissioning of the fieldbus master PLC The parameterization on the valve if even necessary can also be done using the Moog Valve and Pump Configuration Software MoVaPuCo O The factory default parameterization covers most applications For special applications the parameterization can be adapted to the customers needs This DIV document can be used for Axis Control Valves as the first steps are exactly the same The following chapters give a step by step instruction for commissioning the different valve interfaces Application Instruction DCV CDS45379 en Version August 2015 1 uone jeisu o31u02 so naq snqpietj suoneoiddy jeioeds sonsouBeiq OINIENON suoneoiddy s dwex3 Getting Started Digital Control Valves 1 Introduction Scope of document 1 For the correct mechanical installation see the corresponding valve specific installation manual Figure 2 Step by step instruction Some steps are only described briefly If there is an existing Moog
131. type CANopen ProfibusDP or EtherCAT there are different files available uone ejsu Fieldbus Type of configuration file Example file CANopen EDS file D636 214 0001 eds ProfibusDP GSD file Moog07F4 GSD 9 EtherCAT EDS file and D638 225 0001 eds a GDS file D638 225 0001 xml 2 Table 6 Configuration files 9 3 So Check o The files are up to date gt www moogsoftwaredownload com gt Do OD The configuration file of the valve being configured has to be copied to the directory as it is 9 required by the fieldbus master O v Examples for specific fieldbus masters z oO CANopen master e MSC II C Program Files x86 MACS 3 3MACS Targets a MACS_V33 MSC_II_V33_lOs EtherCAT 2 EtherCAT master MSC II C Program Files x86 MMACS 3 3MACS Targets special files are needed MACS_V33 MSC_II_V33_lOs EtherCAT o TwinCAT Beckhoff C TwinCAT io CANopen eds e C TwinCAT io EtherCAT xml E Profibus master A S7 Siemens C Program Files Siemens Step7 S7data GSD MSC II C Program Files x86 MACS 3 3 MACS Targets MACS V33WMSC II V33 IOsV gsd gt Do z Start the fieldbus master 2 A Check E The objects with their attributes SDO index name access rights of the valve model are 9 read in by the fieldbus master and are listed suoneoi ddy ajduwexy Application Instruction DCV CDS45379 en Version August 2015 23 Getting Started Digital Control Valves 4 Fieldbus configuration CANopen b
132. valid settings 0x04 OPERATIONAL OPERATIONAL to OPERATIONAL failed SM 1 mailbox write 0x04 Odd address not allowed 0x05 Invalid address 0x06 Invalid size 0x07 Invalid settings SM 2 PDO out receive 0x08 Odd address not allowed 0x09 Invalid address Ox0A Invalid size 0x0B Invalid settings SM 3 PDO in send OxOC Odd address not allowed OxOD Invalid address OxOE Invalid size OxOF Invalid settings Table 20 Emergency message extensions for EtherCAT Application Instruction DCV CDS45379 en Version August 2015 54 uonelrejsul 104U09 eoi eq snapjelg suonesiddy eioods 0 Q 2 o 7 o 7 OINIENON suonesiddy ajduwexy Getting Started Digital Control Valves 8 Diagnostics troubleshooting SDO abort codes 8 2 SDO abort codes Every CANopen SDO upload or download request to the valve is responded to by the valve If the valve is not able to provide meaningful data or the request itself was already erroneous the 2 request is responded to with a so called SDO abort It transfers a 4 byte long SDO abort code y which specifies the cause of the abort These abort codes are defined by CiA 301 m E sposoncde meann 0503 0000 Toggle bit not alternated 0504 0000 SDO protocol timed out 0504 0001 Client server command specifier not valid or unknown 0504 0002 Invalid block size block upload download only a 05
133. ves 7 Adaptation to special applications Pressure control Check You should be able to read the actual pressure value on the transducer interface output lt ActualValue gt index sub index 0x6110 01 Test carefully by applying pressure to the transducer to verify the configuration scaling and offset is correct gt Do In the pressure controller select the pressure signal source by setting the lt ActiveTransducerlnterfaceAreaA gt index sub index 0x230D 01 to interface 1 gt User Manual Firmware Chapter 7 5 10 Pressure transducer selection p Do Optional when using Ap control in the pressure controller select the pressure signal source for pressure on port B by setting the ActiveTransducerlnterfaceAreaA index sub index 0x230D 02 to interface 2 User Manual Firmware Chapter 7 5 10 Pressure transducer selection Check It should be possible to read the actual pressure value on the pressure controller input lt PrsActualValue gt index 0x6381 uone ejsu o31u02 eoi eq snqpjel4 7 Lo o s Le ri 9 Er 5 7 ODNAIENOIN sonsoubeiq suoneoi ddy e duiex3 Application Instruction DCV CDS45379 en Version August 2015 46 Getting Started Digital Control Valves 7 Adaptation to special applications Pressure control 7 9 2 2 Example of configuring a fieldbus pressure transducer In the following example the first line is for firmware variant VALVE B99xxx DVOx
134. work card used for EtherCAT 5 Insert Device ES o o Type 4110 110 Lightbus C1220 ISA D 41 0 11 0 Lightbus Master ELB720 EtherCAT 110 11 0 Lightbus C1200 2 Telegrams Cancel o 110 1140 Lightbus Master CX1500 M200 PC104 3 41 0 1140 Lightbus Slave CX1500 B200 PC104 8 Profibus DP 41 338 Profinet lt ia CANopen 4 DeviceNet g 3 EtherNet IP 2 41 SERCOS interface Target Type 2 8 EtherCAT PC only U m Etherf I Slave CX only p 7 Ether utomation Protocol Network Variables BX only o o Ei EtherCAT Automation Protocol via EL6601 EtherCAT 0 Ge Ethernet Oo Name Device 1 S 7 c pi o Figure 30 Selecting a network card gt Do Right click on the network card and press Append Box to insert a Moog valve as EtherCAT nm slave device An Insert EtherCAT Device window will open D S j gt BA B99226 NeueXHL tsm TwinCAT System Manager u ow S File Edit Actions View Options Hep A DG x X AB 3 av ee Q E et Q BH SYSTEM Configuration D 8l Real Time Settings E Additional Tasks o Be Route Settings 2 Bl PLC Configuration o 4 1 0 Configuration S MB 1JO Devices Network card MIU LERNEN bra IMS C Delete Device Einf gen eines EtherCAT Ger tes ij l Outputs 8 Online Reset gt Seats Re Name Venti Houptayinder Mech 3 H Hiro Vak amp ma Aired Muster GmbH amp Co KG Cain g Qf Inputs fad uts fi di ite s s ups a Se Tee node name
135. x B 21 1 2 the second line is for firmware variant DRIVE ACV B99xxx DVOxx D 21 1 v p Do 2 Configure an unused PDO to receive the actual pressure value from a CANopen sensor 5 Therefore map a parameter e g vars16 0 into a RxPDO gt Chapter 7 5 Changing the default PDO mapping page 35 gt Do Start the CAN network with NMT service Start Network Oo Check E T The actual pressure value should be received in the parameter vars16 0 O 2 OT gt Do 325 Select the VALVE transducer interface number index sub index 0x6101 00 to the value 1 a Select the DRIVE transducer interface number index sub index 0x6201 00 to the value 1 gt Do Select the VALVE transducer interface type index sub index 0x6102 00 to 2 Pressure Transducer Select the DRIVE transducer interface type index sub index 0x6202 00 to 2 Pressure Transducer gt Do Select the VALVE transducer interface sign index sub index 0x6103 00 to 1 Positive Select the DRIVE transducer interface sign index sub index 0x6203 00 to 1 Positive gt Do Select the VALVE transducer interface port drvtrdpar index sub index 0x4032 00 to 0x290C 01 vars16 0 7 Lo o s Le ri 9 Er 5 7 Select the DRIVE transducer interface port vlvtrdpar index sub index 0x3264 00 to Oo 0x290C 01 vars16 0 S Check 9 The VALVE transducer interface output index sub index 0x6104 01 corresponds to the setpoint sent by PDO e

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