Continental Hydraulics CEM-SD-A, CEM-MS-A Installation Manual
Continental Hydraulics Installation Manual
CEM-SD-A
Description:
This closed loop position module is designed to quickly and accurately move hydraulic cylinder
loads. Position and velocity commands are from analog sources. Cylinder position feedback is
from a digital (SSI) source, or an analog source.
Stroke dependent deceleration is used to provide quick and repeatable positioning. Internal ramp
and velocity adjustments allow for easy system tuning.
A wide range of analog signals are accepted. User may select either voltage or current input
mode. These inputs are easily scaled to match system requirements.
Forward and Reverse “jog” inputs allow for manual load control. A user definable window for “in
position” triggers an output for communication to the next machine function.
Output is an analog voltage, 0 to +/- 10v, suitable for directly driving a proportional directional
valve with on board electronics.
This module is easily adapted to a variety of system requirements. All variables are user adjusted
with easy to use software on your Microsoft Windows laptop. Control variables are stored in nonvolatile memory internal to the module. All variables can be read by the laptop, and reproduced
exactly on other modules.
Technical Data:
Power Supply
Analog Inputs
SSI Feedback
Electrical Connection
Consumption
Impendance ohm 33k
Impendance
Resolution
Sample Time mS
(Speed Input) Voltage
(Speed Input) Impendance ohm 90k
Programming Port
Power and Signal
vDC 12 to 30 (including ripple)
mA
<100mA
3 (medium action)
AExternal Fuse
vDC 0 to + 10
Voltage
mA 0 to 20 (typ 4 to 20)
Current
Monitor
Ground via DIN Rail
250
ohm
%
0.01
1.0
0 to +10
vDC
RS-422 150k baud
0 to 10
vDC
5 (max)
mA
RS-232 3.5mm Stero Jack
8 strips with 4 screw terminals each
Digital Inputs
Digital Outputs
Analog Output
Housing
Resolution
Combustability Class
Protection Class
Storage Temperature
Electro Magnetic Compatibility
Humidity
Emission
Immunity
Vibration Resistance EIC 60068-2-6
Page 1 of 15 CEM-SD-A CHI 1013477 May 2012
V
Logical 0 = < 2
Logical 1 = > 10
V
ohm
25kImpendance
VVLogical 0 = < 2 (50mA max)
Logical 1 = ~ Power Supply
vDC 0 to +/- 10
Voltage
Current
Module
Material
5 (max)
mA
%0.024
Snaps to 35mm DIN Rail EN 50022
Polyamide PA 6.6
V0
UL94
IP 20
-20 to +60
CWorking Temperature
C
-20 to +70
% 95 (non condensing)
EN 61000-6-2
EN 61000-6-3
Continental Hydraulics Installation Manual
Functional Diagram:
0 to +10v
+
-
+
+
-
Command Speed
Command Position
0 to +10v or
4 to 20 mA
Analog
Feedback Position
24v supply
0v
SSI Digital
Clock +
Feedback
Clock -
Position
Data +
Data -
Enable
Start (Run)
Hand + (jog)
Hand - (jog)
Wiring Example:
Analog Speed (optional)
Analog Command Position
Analog Positi on Feedback
(Software select Digital or Analog)
SSI Serial
Communication
+24v
Input
Scaling
10
9
13
11
14
11
31
32
25
26
27
28
8
Active = high
7
Active = high
5
Active = high
6
Active = high
v
ws xd
Feedback
Sensor
Profile
Generator
SSI
Control Program
CEM-SD
w
x
Programming Port
RS-232 3.5mm jack
Output
Control
SSI
Analog
Output
u
Active = high
Active = high
DC
DC
3
+12 to 24v
19
4
0v
20
15
16
12
Ground
17
SSI Analog Position
(0 to +10v)
1
2
Differential Input on
Control Valve
+
-
Ready
In Position (InPos)
Ground via DIN rail
10/9
13/11
14/11
25-32
(6 pins)
Speed
Command
Feedback
SSI Digital
Position Feeback
8
Enable
7
Start (Run)
5
Hand + (jog)
6
Hand - (jog)
Valve out +
Valve out -
+24v
+24v
Gnd
Gnd
Gnd
Ready
In Pos
3
19
Power
Supply
4
20
15
16
Differential
+
Input on
-
Control Valve
12
1
2
Dimensions:
Page 2 of 15 CEM-SD-A CHI 1013477 May 2012
3.9"
1.8"
4.5"
Continental Hydraulics Installation Manual
Steps to install and configure a new application:
1. Mount the module in a suitable location
2. Connect the power supply and valve solenoids
3. Adjust current range to match valve
4. Adjust PWM/Dither to optimize performance of the valve
5. Adjust analog input to voltage or current, and scale input to desired system speed
6. Adjust ramping (if desired)
7. Adjust internal monitor functions (if desired)
6. Adjust customized current to of valve flow gain (if desired)
All parameters are adjusted using VEA-USB programming cable and CHI-PC Microsoft Windows
application:
Module Mounting Location:
This module is to be mounted in a cabinet for protection from the local environment.
Ensure there is adequate free space around the module to allow for cooling air flow.
This module is designed to snap onto an industry standard 35mm DIN rail.
Do not mount near other modules that emit high power electrical interference, such as motor
controllers and high power contactors.
Power Supply:
This module is designed to operate on DC power from a regulated power supply ranging from 12
to 30 volts.
A 3 amp medium action fuse is recommended in the “+” power supply line.
Adjust MODE to STD or EXP:
Simple parameters may be adjusted while in STD mode.
EXP mode allows for more complex parameter adjustments.
MODE parameter valid options are STD and EXP. Default is STD.
TS parameter:
TS sets the sample time of the closed loop control system. Valid settings are from 5 to 30 Units
are msec. Default is 10. It is advised to keep this parameter set to 10.
Page 3 of 15 CEM-SD-A CHI 1013477 May 2012
Continental Hydraulics Installation Manual
Stroke Dependent Deceleration:
The CEM-SD module uses the position control theory of stroke dependant deceleration. When a
new position is commanded, the initial motion profile is ramped and speed controlled in open loop
mode. As the load travels, it soon gets to a preprogrammed point, termed the braking point. At
the braking point, the module converts to closed loop control, constantly adjusting the speed of
the load, homing in on the final stopping point.
100%
Adjustable Top Speed
Speed
0%
0%
Adjustable
Acceleration
Ramp
Position
Adjustable Deceleration
Start Point (Braking Point)
"Square Root"
Deceleration
100%
The main parameters used to control this profile include:
STROKE: load distance.
A:A and A:B: ramping times
VELO: internally controlled velocity
D:A and D:B: Deceleration start point
STROKE defines the full motion. Valid options are 10 to 10000. Default is 100. Units are mm.
A:A and A:B parameters are acceleration (ramp) rates. A:A is the direction of the load connected
to the A work port of the proportional directional valve (+voltage out of CEM-SA Pin 15). A:B is
acceleration of the B port. Valid options are 1 to 5000. Default is 100. Units are msec.
All ramp rates are set via software. All ramps are specified in milliseconds, and are actually “time
to ramp for a 0 to 100% signal change.”
Example: A value of 2000 will give a ramp time of 2 seconds for a VELO parameter of
100% (10000). The ramp time will be 1 second for a VELO parameter of 50% (5000).
VELO
parameter
D:A and D:B are the deceleration start points(braking points). Valid options are 1 to 10000.
Default is 10. Units are mm.
Page 4 of 15 CEM-SD-A CHI 1013477 May 2012
100%
50%
0%
(A:A = 2000)
0
123
Time (seconds)
4
Continental Hydraulics Installation Manual
Stroke Dependent Deceleration (continued):
System velocity command can be either external or internal.
VS can be set to either INT or EXT. INT is default.
INT requires the speed to be set with the VELO parameter.
VELO valid values are 0 to 10000. Default is 10000(100%). Units are 0.01%
EXT uses the 0 to 10v analog voltage at pins10/9 to command speed.
This speed signal may be ramped with the VRAMP parameter.
VRAMP valid values are 1 to 5000. Default is 50. Units are msec.
Deceleration characteristic is controlled by the CTRL parameter.
CTRL valid options are LIN, SQRT1, and SQRT2. Default is SQRT1.
SQRT1 gives the best performance for most systems. SQRT1 balances quick motion control with
accurate final position holding.
SQRT2 increases the gain at the final position, which may provide more precise load holding.
This higher gain may introduce final position instability.
LIN gives the most stable option, but requires more time to complete the motion profile.
100%
Speed
0%
0%
Position
(gain ~1)
Deceleration
Start Point D:A
SQRT2
(gain ~ 5)
SQRT1
(gain ~ 3)
LIN
100%
Page 5 of 15 CEM-SD-A CHI 1013477 May 2012
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