siemens 611 User Manual

General Information 1

Configuration 2

Start-up 3

Firmware Drive Functions 4

SIMODRIVE 611 digital

HLA module

Description of Functions

Hardware Drive Functions 5

Hydraulics Diagnostics 6

Peripherals/Accessories 7

Servicing 8

Valid for

Series 6SN11-

03.06 Edition

Hydraulics A

Abbreviations B

Terminology C

References D

EC Declaration of Conformity

Index F

3ls

SINUMERIK® Documentation

Revision history

Brief details of this edition and previous editions are listed below.

The status of each edition is indicated by the code in the “Remarks” column.

Status code in the “Remarks” column:

A New documentation. . . . . .

B Unmodified reprint with new order number . . . . .

C Revised version with new edition status. . . . . .

If the technical subject matter shown on the page has changed compared to the previous edition status, this is indicated by the changed edition status in the header of the respective page.

Edition Order no. Remarks 02/99 6SN1197-0AB60-0BP0 A 08/99 6SN1197-0AB60-0BP1 C 04/00 6SN1197-0AB60-0BP2 C 10/03 6SN1197-0AB60-0BP3 C 03/06 6SN1197-0AB60-0BP4 C

Trademarks All products are registered trademarks of Siemens AG. Other names in this publication might be trademarks whose use by a third party for his own purposes may violate the rights of the registered holder.

Other functions not described in this documentation might be executable in the control. This does not, however, represent an obligation to supply such functions with a new control or when servicing.

We have checked that the contents of this document correspond to the hardware and software described. Nevertheless, differences might exist and therefore we cannot guarantee that they are completely identical. The information given in this publication is reviewed at regular intervals and any corrections that might be necessary are made in subsequent editions. We welcome all recommendations and suggestions.

Subject to change without prior notice

Printed in Germany

Siemens Aktiengesellschaft.

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Preface

Instructions when reading

Structure of the documentation

The SIMODRIVE documentation is subdivided into 2 parts:

S General Documentation

S Manufacturer/Service Documentation

The function manual of the HLA module is part of the SIMODRIVE/SINUMERIK documentation.

A list of documents, updated on a monthly basis, is available on the Internet for the available languages at: http://www.siemens.com/motioncontrol Select “Support” ––> “Technical Documentation” ––> “Overview of Documents”

The Internet version of the DOConCD (DOConWEB) is available at: http://www.automation.siemens.com/doconweb

You can find information on the training courses offered and FAQs (frequently asked questions) on the Internet under: http://www.siemens.com/motioncontrol (under “Support”)

This document does not purport to cover all details or variations in equipment, nor to provide for every possible contingency to be met in connection with installation, operation or maintenance.

The contents of this document are not part of an earlier or existing contract or agreement nor do they change this. The sales contract contains the entire obligation of Siemens. The warranty conditions specified in the contract between the parties is the sole warranty of Siemens. Any statements contained herein neither create new warranties nor modify the existing warranty.

Target group

Benefits

Technical support

Questions on the manual

Certificates

This documentation is intended for use by machine manufacturers and servicing personnel who use the “HLA modules”.

The function manual enables the target group to configure and operate the SIMODRIVE 611 digital drive with hydraulic module.

If you have any questions, please contact the following hotline:

A&D Technical Support Tel.: +49 (0) 180 5050 – 222 Fax: +49 (0) 180 5050 – 223 E-Mail: mailto:adsupport@siemens.com Internet: http://www.siemens.com/automation/support-request

If you have any questions (suggestions, corrections) regarding this documentation, please fax or e-mail us at:

Fax: +49 (0) 9131/98 – 63315 E-mail: mailto:motioncontrol.docu@siemens.com

Fax form Refer to the feedback sheet at the end of the documentation

You will find the certificates for the products described in this documentation under:

http://intra1.erlf.siemens.de/qm/home/index.html

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Objectives

Information for using this manual

This Description of Functions provides the information required to configure and start up the hydraulic drive module.

S Chapter 2 describes the procedures for configuring the electric and hydrau-

lic components.

S Chapter 3 shows how the hydraulic drive is started up with the support of a

menu-driven user interface.

S The firmware and the HLA module hardware functionality are explained in

Chapters 4 and 5.

S Chapter 6 explains how to check and interpret status displays and alarms

(hydraulic diagnostics).

S Chapter 7 describes the accessories required, e.g. measuring systems and

cables.

S Appendix A contains general information and an explanation of the hydraulic

system functionality.

Note Hydraulics In this document, information about specific hydraulic functions

refers to functions provided by Bosch Rexroth AG.

The following guide information is provided to help you reference information in this Description of Functions:

Definition of qualified personnel

Software version

S General table of contents

S Header line (as orientation):

– The main chapter is in the upper header line

– The second line of the header is the subsection number

S Appendix with

– Abbreviations, Terms and List of References

– Index

For the purpose of this manual and product labels, a “qualified person” is one who is familiar with the installation, mounting, start-up and operation of the equipment and the hazards involved.

S Trained and authorized to energize/de-energize, circuits and equipment in

accordance with established safety procedures.

S Trained in the proper care and use of protective equipment in accordance

with established safety procedures.

S First aid training.

The SW versions specified in this documentation refer to the SINUMERIK 840D control system and the HLA module.

The Description of Functions applies only to the software versions specified. When a new software version is released, the Description of Functions for that version must be ordered.

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

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This documentation contains information that must be observed to ensure your

Safety information/ instructions

Danger indicates that death or severe personal injury will result if proper precautions are not taken.

Warning indicates that death or severe personal injury may result if proper precautions are not taken.

Caution

With a warning triangle indicates that minor personal injury can result if proper precautions are not taken.

personal safety and to prevent material damage. The instructions for your personal safety are marked by a warning triangle. Instructions relating solely to material damage are not marked by a warning triangle. Depending on the degree of hazard, the warning information is shown as follows in decreasing sequence:

Preface

Intended use

Caution

Without warning triangle indicates that material damage can result if proper precautions are not taken.

Notice

indicates that an undesirable result or state may arise if the relevant note is not observed.

Note

In the context of this document, it is advisable to take note of the warning information.

Note the following:

Warning

The unit may be used only for the applications described in the catalog and the technical description, and only in combination with the equipment, components and devices of other manufacturers where recommended or permitted by Siemens. To ensure trouble-free and safe operation of the product, it must be transported, stored and installed as intended and maintained and operated with care.

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Danger and warning information

Danger

Commissioning should not start until you have ensured that the machine in which the components described here are to be installed complies with Directive 98/37/EC.

Only appropriately qualified personnel may commission/start up this equipment.

This personnel must take into account the technical customer documentation belonging to the product and be knowledgeable and observe the specified information and instructions on the hazards and warnings.

When electrical devices are operated, the electrical circuits automatically conduct a dangerous voltage.

Dangerous mechanical movements may occur in the system during operation. All of the work carried-out on the electrical machine or system must be

carried-out with it in a no-voltage condition.

Warning

Perfect, safe and reliable operation of the equipment assumes that it has been professionally transported, stored, mounted and installed as well as carefully operated and serviced.

In addition to the danger and warning information provided in the technical customer documentation, applicable national, local, and system-specific regulations must be taken into account.

For special versions of the machines and equipment, the information in the associated catalogs and quotations applies.

Caution

When attaching the connecting cables, you must ensure that:

S They are not damaged,

S they are not stressed,

S they cannot come into contact with rotating parts.

Warning

All of the SIMODRIVE unit connections must be withdrawn or disconnected when the electrical equipment on the machines is subject to a voltage test (EN 60204-1 (VDE 0113-1), Point 20.4). This is necessary, as the SIMODRIVE insulation has already been tested, and should not be subject to a new test (additional voltage stressing).

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

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Preface

Warning

The information and instructions in all of the documentation supplied and any other instructions must always be observed to eliminate hazardous situations and damage.

S For special versions of the machines and equipment, the information in the

associated catalogs and quotations applies.

S Furthermore, all of the relevant national, local land plant/system-specific

regulations and specifications must be taken into account.

S All work should be undertaken with the system in a no-voltage condition!

Caution

When using mobile radios (e.g. cellular phones, mobile phones, 2-way radios) with a transmission power of > 1 W close to the equipment (< 1.5 m) the function of the equipment can be disturbed.

Caution

As part of routine tests, the devices undergo a voltage test in accordance with EN 50178. During voltage testing of electrical equipment on industrial machines in accordance with EN 60204-1, Section 19.4, all SIMODRIVE device connections must be disconnected/removed. This is necessary in order to avoid damaging the SIMODRIVE devices.

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ESDS information and instructions

Electro Static Discharge Sensitive Devices

Some parts, such as individual components, integrated circuits or modules, could be damaged by electrostatic fields or electrostatic discharge during handling, testing or transport. These components are referred to as ESDS (ElectroStatic Discharge Sensitive Devices).

Handling ESDS modules:

S When handling devices which can be damaged by electrostatic discharge,

personnel, workstations and packaging must be well grounded!

S Electronic components should only be touched when absolutely necessary. S Personnel may only touch components if

– they are continuously grounded through ESDS wristlets, – they wear ESDS shoes, ESDS shoe grounding strips in conjunction with

an ESDS floor surface.

S Modules must only be placed on conductive surfaces (table with ESD

surface, conductive ESD foam, ESD packaging, ESD transport container).

S Modules may not be brought close to data terminals, monitors or television

sets (minimum clearance to the screen > 10 cm).

S Do not bring ESD-sensitive modules into contact with chargeable and

highly-insulating materials, such as plastic sheets, insulating table tops or clothing made of synthetic materials.

S Measuring work may only be carried out on the components if

– the measuring instrument is properly grounded (e.g. equipment

grounding conductor), or

– when floating measuring equipment is used, the probe is briefly

discharged before making measurements (e.g. a bare-metal control housing is touched).

S Only touch control components, option modules and memory modules at

the front panel or at the edge of the PC boards.

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SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

03.06

1 General Information 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Application examples 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Comparison of electric and hydraulic drive systems 1-14. . . . . . . . . . . . .

1.3 Structure of an electro-hydraulically controlled drive axis 1-16. . . . . . . .

1.3.1 Machine commutation 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Cylinder 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.3 Control valve 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.4 Valve amplifier 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.5 Shut-off valve 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.6 Position measuring system 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.7 SINUMERIK 840D/SIMODRIVE 611 digital 1-18. . . . . . . . . . . . . . . . . . . .

1.3.8 Hydraulic power unit 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Configuration 2-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Configuring steps 2-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Procedure for configuring electrical components 2-19. . . . . . . . . . . . . . .

2.1.2 Procedure for configuring hydraulic components 2-20. . . . . . . . . . . . . . .

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital 2-22. . . . . . . .

2.2.1 System overview 2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Required FW packages 2-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.3 Hardware requirements 2-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Configuring the hydraulic drive 2-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Cylinder selection 2-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Selection of servo solenoid valves 2-30. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Selection of shut-off valves 2-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.4 Natural frequency of the hydraulic drive 2-40. . . . . . . . . . . . . . . . . . . . . . .

2.3.5 Hydraulic power unit 2-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Interconnection 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Internal power supply 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 External power supply 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.3 Grounding concept/electromagnetic compatibility (EMC) 2-46. . . . . . . .

3 Start-up 3-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of start-up process 3-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Drive configuration 3-49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Modify drive machine data 3-50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Valve selection 3-51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Cylinder selection 3-54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 Mounting/supply data 3-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7 Measuring system data 3-56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8 Modifying data 3-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9 Fine adjustment and optimization 3-60. . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.1 Control direction, travel direction 3-60. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.2 Offset adjustment 3-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.3 Velocity adjustment 3-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.4 Referencing data for HLA 3-65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.5 Controller optimization 3-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.6 Controller adaptation 3-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.7 Hydraulic/electrical interpolation 3-72. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.10 File functions 3-73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11 Start-up functions 3-74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.1 Measuring function 3-75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.2 Function generator 3-82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.3 Circularity test 3-86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.4 Servo trace 3-86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.5 DAC parameter settings 3-87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.12 User views 3-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.13 Display options 3-89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.14 Configuring an OEM valve list 3-90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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3.15 System variables 3-92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Firmware Drive Functions 4-93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Block diagram of closed-loop control 4-93. . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Functions 4-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Function overview 4-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Parameter set changeover 4-96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Closed-loop velocity control 4-97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Velocity adaptation/feedforward control 4-97. . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Velocity controller 4-104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Dynamic stiffness control (DSC) 4-112. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Closed-loop force control 4-113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Force limitation 4-115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Static friction injection 4-116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 Force controller 4-117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Manipulated voltage output 4-122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Characteristic compensation 4-122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 Control output filter 4-128. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.3 Manipulated voltage limitation 4-130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Supply unit data 4-131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 Valve 4-132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8 Cylinder drive 4-134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9 Drive data 4-135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10 Position measuring system 4-138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11 Pressure sensor system 4-143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.12 Terminals 4-144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13 Monitoring functions 4-150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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4.13.1 Alarms 4-150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.2 Variable signaling functions 4-152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14 Service functions 4-157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.1 Min/max display 4-157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.2 Monitor 4-158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.3 Diagnostic machine data 4-159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15 Parameters table 4-163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Hardware Drive Functions 5-173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Interface overview 5-173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Measurement system 5-176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Pressure sensor system 5-177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 Control valve 5-178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.4 Terminals 5-179. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.5 Test sockets (diagnostics) 5-180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.6 Bus interfaces 5-181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 System environment 5-182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Notes 5-183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Climatic and mechanical environmental conditions in operation 5-183. . .

5.3.2 Shipping- and storage conditions 5-184. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Stress caused by contaminants 5-185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Hydraulics Diagnostics 6-187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Peripherals/Accessories 7-217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Measurement systems 7-217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Encoders, linear scales 7-217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Cable diagrams 7-220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 BERO (X432) 7-224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Pressure sensor 7-225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Sensor systems 7-225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.2 Connection diagrams 7-229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Connection diagrams for servo solenoid valves 7-230. . . . . . . . . . . . . . . .

8 Servicing 8-235. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Areas of responsibility at Siemens/Bosch Rexroth 8-235. . . . . . . . . . . . . .

8.2 Hotline and contacts 8-236. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A Hydraulics A-237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Closed-loop proportional valves A-237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.1 General information A-237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.2 Directly-controlled servo solenoid valves, sizes 6 and 10 A-245. . . . . . . .

A.1.3 Pilot-controlled servo solenoid valves, sizes 10 and 16 A-247. . . . . . . . . .

A.1.4 HR servo solenoid valves A-250. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Cylinder A-252. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B Abbreviations B-255. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C Terminology C-257. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D References D-259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.1 Electrical applications D-259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.2 Hydraulic applications D-259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E EC Declaration of Conformity E-261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F Index Index-265. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

03.06

02.99

xii

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

General Information

1.1 Application examples

Applications

Objective

Interfaces

The NCU 573.2 of the SINUMERIK 840D is capable of handling axis configurations of a maximum of 31 axes on up to 10 different channels. This functional sophistication makes the SINUMERIK 840D an increasingly popular system for the automation of rotary indexing machines. These machines are often highly compact in design and frequently equipped with hydraulic axes (cylinders and servo solenoid valves). The hydraulics module (HLA module) provides a means of controlling hydraulic axes directly from the SINUMERIK 840D system via the digital drive bus.

The HLA module is a control unit belonging to the modular SIMODRIVE 611 converter system mounted in a 50 mm carrier module (universal empty housing).

The gating and closed-loop control electronics for operating controlled hydraulic drives are integrated in the HLA module.

From the point of view of the manufacturer of modern servo solenoid valves, an innovative step in the field of hydraulic drive systems has been taken by treating electric and hydraulic drives as equally important components and integrating them into a standard NC.

Hydraulic and electric drives are equally important, and are also available for combinations within an interpolating grouping.

S Firmware

The communications -interface is compatible with SIMODRIVE 611 SRM(FD)/ARM(MSD) for supported services. Code and data structure is analogous to SIMODRIVE 611 SRM(FD)/ARM(MSD). The hydraulics software is stored as a separate program code in the control system.

S Hardware

Integration into the SIMODRIVE 611 system is compatible with SIMODRIVE 611 digital SRM(FD)/ARM(MSD). Essentially, this involves the following interfaces:

– Drive bus

– Equipment bus – Power supply concept

1-13

1 General Information 10.03

02.99

1.2 Comparison of electric and hydraulic drive systems

Table 1-1 Comparison of electric and hydraulic drive systems

Criterion

Power density / mounting space requirements

Mass inertia of moving parts

Operational safety, service life

Direct electric drive Electric drive with

S Low weight and

S Servo motor and

S reduced spatial re-

quirements of the electric part on the machine table.

Low mass of electric part on machine table.

In principle, service life only depends on the linear guides.

S Problematic with lim-

Servomotor and leadscrew have high mass moment of inertia.

S Shock sensitive. S Service life limited by

leadscrew

leadscrew large and heavy.

ited mounting space.

leadscrew.

S Sudden failure

possible.

Service Simple replacement Expensive replacement

and repair of leadscrew by specialists.

Energy storage Peak requirement must

be installed as no storage is possible.

Maximum forces

Load stiffness Very good;

Maximum velocity

Maximum travel path

Collision protection

Peak thrust per unit area approx. 40 to 80 kN/m

Servo gain can be set 10–100 times higher than on the other two drives.

Up to 500 m/min v

Unlimited

Mechanically difficult Mechanically possible Mechanically possible

Peak requirement must be installed as no storage is possible.

Limitation for high forces. Practically unlimited

S Elasticity under large

forces.

S Elasticity of leadscrew

is largely compensated as a control function.

 ω

max=hs

=thread lead

=max. motor speed

max

 6 m  3 m

max

/2π

Hydraulic drive

S Cylinder and servo sole-

noid valve are light-weight and compact.

S Transfer of E motor to hy-

draulic power unit.

Piston and piston rod have very low mass

S Protected against overload

by pressure limitation.

S Sturdy, insensitive to

shocks.

S Cylinder seals and valve

control edges have a long service life.

S Wear warning.

S Simple error diagnosis S Simple replacement and

repair of valves and cylinders.

S Compensation of energy

requirement peaks by hydraulic accumulator.

S Rapid traverse in differen-

tial circuit.

S Reduction of installed ca-

pacity.

(cylinder-φ, p

=700 bar)

max

S Oil compressibility is com-

pensated as a control function (I component).

S Good zero overlap quality

of valve ensures very high rigidity under load.

30...300 m/min (depending on which cylinder seal kit is used)

1-14

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

02.99

1.2 Comparison of electric and hydraulic drive systems

Table 1-1 Comparison of electric and hydraulic drive systems

1 General Information

Criterion Hydraulic driveElectric drive with

Noise Noise produced by

Acceleration

Direct electric drive

leadscrew

Noise produced by servo-

linear guides

motor and leadscrew

max. 45 g max. 1 g max. 2 g

characteristics Drive cooling Absolutely essential Required only at high

speeds

Sensitivity to

High Low Low ferromagnetic swarf

Table 1-2 Analogy of characteristic data

Electrical

Speed – Velocity Velocity Current Flow rate DC link voltage System pressure Power Flow rate  valve pressure differential Transistor/power section Valve Motor Drive cylinder

S Flow through valve may

produce noise.

S Pump noise of

hydraulic power unit.

Required in some cases, in power unit only

Hydraulic

1-15

1 General Information

1.3 Structure of an electro-hydraulically controlled drive axis

SINUMERIK 840D, SIMODRIVE 611 digital with HLA module

Shut-off valve

Servo solenoid value with valve amplifier (OBE)

Machine commutation

02.99

Hydraulic power unit

Fig. 1-1 Construction of an electro-hydraulically controlled drive axis

1.3.1 Machine commutation

Guide mechanism

Friction

Straight line movement of machine slides and tables is accomplished with minimum friction and maximum precision by hydrodynamic and hydrostatic slideways or roller slideways.

A certain degree of friction can be very useful for damping oscillations.

However, excessive friction, especially pronounced transitions from static to sliding friction, has a negative effect on the control result and impairs control loop stability.

Position measuring system

1-16

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

02.99

1.3.2 Cylinder

1 General Information

1.3 Structure of an electro-hydraulically controlled drive axis

Construction

Quality criteria

The cylinder represents the simplest form of a linear motor and can easily be integrated into machine guidance. The cylinder normally has a piston rod at one end.

The following are critical quality criteria

S the surface quality of barrel and piston rod and

S the seals and guides (low-friction, servo quality...).

1.3.3 Control valve

Task

Function

This is the control element in the closed control loop system and forms the electro-hydraulic converter.

The valve steadily converts electrical signals into hydraulic flow.

Its quality is defined by static and dynamic parameters, such as

S zero overlap

S hysteresis

S limit frequency,

etc.

1.3.4 Valve amplifier

This circuit contains the power electronics for the solenoid in the servo solenoid valve, which adjusts the valve spool position.

The position controller in the valve amplifier (on-board electronics – OBE) controls the position of the valve spool proportionally to the output value (U=0...10 V).

1.3.5 Shut-off valve

Shut-off valves are used to add safety functions to a valve control with servo solenoid valve. Shut-off valves can prevent uncontrolled motion of the cylinder.

1.3.6 Position measuring system

Task

The position measuring system supplies the actual value for the position of the moving machine element.

1-17

1 General Information

1.3 Structure of an electro-hydraulically controlled drive axis

02.99

Function

The velocity is acquired by continuous differentiation of the distance over time. Various systems are available depending on the level of accuracy required.

Highest accuracy requirements are achieved by digital systems (glass scale with photoelectric evaluation circuit) mounted directly on the machine.

The most widely used digital incremental systems require a reference point approach at the beginning of a machining operation.

1.3.7 SINUMERIK 840D/SIMODRIVE 611 digital

SINUMERIK control systems and SIMODRIVE drive systems are specially designed for machine tools, manipulators and special-purpose machines.

The numerical control processes the machine program and converts it into control commands. It also monitors command execution continuously.

The control structures for the electro-hydraulic control loop and the interfaces to

S the shut-off valve,

S the servo solenoid valve,

S the position measuring system and

S the central processing unit

are all provided by the HLA module.

The HLA module is an integral component of the SINUMERIK 840D and SIMODRIVE 611 digital systems.

A range of different modules with graded scope of functions is provided to allow the SINUMERIK 840D NCU system to be tailored to a wide range of functional requirements of machines. This allows optimal adaptation to the machine and machining task, as well as allowing for equipping standardized machine series.

1.3.8 Hydraulic power unit

This unit supplies hydraulic energy.

It is installed remotely from the drive axis. Accumulators are employed to compensate for strongly fluctuating hydraulic energy requirements and to minimize the installed power.

1-18

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

Configuration

2.1 Configuring steps

2.1.1 Procedure for configuring electrical components

The procedure for configuring an HLA module is divided into steps in such a way that the user is guided through the full range of relevant settings, from the required force, to the hydraulics components, and finally the HLA and its encoder evaluation circuitry. This initial configuring phase may be followed by a second in some cases, in which the corresponding circuit recommendations and EMC measures are taken into account.

The functions of SIMODRIVE components are described with keywords in this Planning Guide. Limit values for functions may be specified in some cases. For further details (e.g. characteristics), please refer to the Installation and Start-Up Guides for SIMODRIVE 611 digital and SINUMERIK 840 digital.

Further configuring instructions and detailed ordering information can be found in Catalogs NC 60 and NC Z.

Phase 1

Selection of hydraulic components

Dimensioning of incoming mains supply

Dimensioning of power modules

Dimensioning of external power supply

Dimensioning of closedloop control components

and publication from Rexroth

and publication 6SN1197-0AA00

Section 2.3

Section 2.2

Section 2.4

Chapter 4

Dimensioning of position sensor (measuring system)

Fig. 2-1 Configuring steps in start-up sequence

Section 7.1

2-19

2 Confi

uration 10.03

2.1 Configuring steps

Phase 2

Recommended circuits EMC measures

02.99

Section 2.4

Block diagrams/ connection diagrams

Abbreviations, terms and index

Fig. 2-2 2. Configuring phase

2.1.2 Procedure for configuring hydraulic components

Hydraulically controlled drives are normally configured by the technical sales and marketing personnel of the hydraulics supplier (e.g. Bosch Rexroth, see Chapter 8) in close co-operation with the machine manufacturer.

This configuring phase is divided into the following steps:

S Selection of the cylinder on the basis of forces and velocities required and

the cylinder mounting conditions in the machine (see Subsection 2.3.1).

Section 2.2

Appendix

S Selection of the servo solenoid valves on the basis of the cylinder data,

forces, velocities and dynamic requirements (see Subsection 2.3.2, 2.3.3).

S Selection of the position measuring system and optionally the pressure sen-

sors with regard to the measuring range, accuracy and linearity (see Section

7.1, 7.3).

S Dimensioning of the hydraulic power unit, taking all loads into account (see

Subsection 2.3.5).

S Calculation of the natural frequency of the drive for an initial assessment of

whether the expected control result can be achieved (see Subsection 2.3.4).

S In difficult cases, it may be worthwhile carrying out a dynamic simulation of

the drive as an aid to configuration.

The basic data required to design a system are obtained from a questionnaire.

2-20

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

02.99

2 Confi

uration

2.1 Configuring steps

Questionnaire

Design of hydraulic NC axes

Hydraulic NC axes

Design of systems with linear motions

Company:

Address:

Machine:

Axis: Function/designation:

Straight-cut control:

Drive specification

Cylinder dimensions [mm]

Piston diameter:

1. rod diameter:

2. rod diameter: Stroke:

Cylinder mounting position: Velocity

051-001/

Contact person:

Department:

Phone:

Continuous-path control:

Accuracy requirements

Positioning precision [µm] from rapid traverse: from feedrate: Path accuracy:

tolerance [mm/min]:

Connection: Position

Valve cylinder Pipe/Hose length [mm]: Pipe/Hose diameter [mm]: Moved mass [kg]: Machining forces [N] Piston advance: Piston retraction:

Slide guide friction

µ: FR [N]:

Pump pressure [bar]: Velocities [m/min]

Rapid traverse advance: Rapid traverse retract: Machining feed advance:

Machining feed retract:

Acceleration rates [m/s2]

Max. acceleration: Max. delay:

measuring system

Make: Type: Other: Resolution [µm]:

NC control system

Make: Type:

incremental,

output signal ...

SIEMENS 840D

Processed by: Dept.: No. of pages: Date:

2-21

2 Confi

uration

02.99

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

2.2.1 System overview

Components

A complete SINUMERIK 840 digital control system with HLA module consists of various individual components. These are listed below.

Table 2-1 Components of SINUMERIK 840 digital control with HLA module (number,

No.

Fig.

2-3

A NCU box B NC CPU

component, description)

Component Description

S Enclosure for NC CPU S Central processing unit of 840D,

S Execution of NC program, S Contains modules with e.g. PLC, communications

functions

S NCU 573.2 includes a fan module

B1 Cable distributor

Operator panel

MMC module

S For insertion in NCU S Display, keyboard, power supply unit and

operator controls for NC

S Operator panel calculator (integrated in panel), S MMC 103 with hard disk

E Mains supply module

(MS)

Machine control panel

G11)ISA adapter

G21)Full keyboard for CNC

Reference: /PJ1/ SIMODRIVE 611

S Machine operation S Allows AT modules to be used in conjunction with

the MMC module MMC103 (mounted in operator panel)

S Full keyboard for connection to MMC module

G3 Memory card (PCMCIA)

S Contains the system program, S can be slotted into the NCU 561.2, 571.2, 572.2,

573.2

G4 Diskette unit (accessory) H1 to

Cable Reference: /Z/, Catalog of Accessories NC Z

H10

Cable See Chapter 7, Peripherals/Accessories

H I SIMODRIVE hydraulic

module (HLA module) 50 mm carrier module

(universal empty housing)

I1 Phoenix cable connection

S Built-in unit for connection to MMC module

S Closed-loop control of hydraulic drive S Actuation of servo solenoid valve

Holder for HLA closed-loop control plug-in module (see Fig. 2-6)

S Shut-off valve S External 24 V supply S BERO input S “Power enable”

J SIMATIC components Reference: /S7H/, Manual K Terminator Terminator for drive bus (inserted in last module in

drive grouping)

2-22

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

02.99

2 Configuration10.03

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

Table 2-1 Components of SINUMERIK 840 digital control with HLA module (number,

No.

Fig.

2-3

component, description)

Handheld unit

DescriptionComponent

S Connect HHU to K bus via MPI S Handwheel, EMERGENCY STOP button, key-ac-

tuated switch, override, agreement buttons, dis-

Distributor box

play, unassigned keys

S For linking the hand-held unit to the MPI bus S Connection for EMERGENCY STOP circuit, en-

able keys, handwheel, 24 V DC

N Cable distributor O Hydraulic drive References:

P External 24 V supply

1) A description of these components can be found in:

References:/BH/, Operator Components Manual

S 24V supply for connection to MPI connector

/BR1/, “Servo solenoid valves” catalog

/BR2/, “Sensors and electronics” catalog /BR3/, “Adapter plate valves” catalog

S SITOP stabilized power supply modules

Reference: SITOP catalog Order No. E860060-K2410-A101-A4

Note

An HLA module must never be operated directly on a SIMODRIVE monitoring module, i.e. it must always be connected via a mains infeed module.

For information about connecting further additional SIMODRIVE monitoring modules in configurations with several HLA modules, please refer to the Planning Guide for SIMODRIVE 611 Converters /PJU/.

In a multi-tier configuration, all the infeed supply units must be connected simultaneously.

2-23

2 Configuration

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

02.99

Floppy

MMC CPU

S7–300

MCP

(GND)

Device bus

H2 H3 H9

SITOP power (external PS)

module

HLA

NCU

Battery and plug-in fan unit

Digital I/O (high-speed NC I/O)

Measurement (2x)

Handwheel (2x) (1x of M)

External 26.5 V supply

H10

Position sensing

H11

H12

Pressure sensor A

Pressure sensor B

Servo solenoid valve

BERO inputs

Enable

Shutoff valve

Note: Display of hydraulics for one axis

Fig. 2-3 System components

2-24

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

02.99

2 Configuration

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

Hydraulic drive, axis 1

Position measuring system

Pressure sensor

Servo solenoid valve

Pressure sensor A

Pressure sensor B Position sensing

Shutoff valve

Servo solenoid valve

Pressure sensor A

Pressure sensor B

Position sensing

Shutoff valve

Hydraulic drive, axis 2

–X102

Axis 2

Position measuring system

Axis 1

HLA

–X101

BOBB

–X111

–X112

Pressure sensor

Servo solenoid

–X121

X431

–X34

M PV1 MV1

C1 P24 M24 663

Functional ground

Shutoff valve, axis 1

–

Reserved, do not use!

External 26.5 V supply

–

Power enable at term. 663 Internal +24 V enabling voltage

X1141

Drive bus

Device bus interface (X151)

1) Only required if external 26.5 V is not electrically separated safely!

Fig. 2-4 Connection configuration for HLA module

–X35

–X122

X1341

Servo solenoid valvevalve

X432

M PV2 MV2

C2 B1 19 B2

Functional ground

Shutoff valve, axis 2

–

Reserved, do not use! BERO input, axis 1 Internal 0 V enabling voltage BERO input, axis 2 Internal +24 V enabling voltage

Drive bus/drive bus terminator on last module

2-25

2 Configuration

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

02.99

Relay contact, Ready to operate message

Relay contact for group message

t and motor overtemperature

Reference potential for enable voltage

Enabling signal for internal line contactor

Signaling contact for starting lockout (NC contact)

DC link power supply for bridging line failures

Electronics power supply from external source

Power disable Enabling voltage Enabling voltage Drive enable

P24 P15

N15 N24 M M RESET (R+term.15)

Enabling voltage Setup mode

Contactor energization, start

Signaling contact, line contactor

NC contact

NO contact

73.1

73.2 72

5.3

5.2

5.1 63 9

64 19

7 45 44 10 15

15 R

9 112

48 111 213

113

NS1 NS2

AS1 AS2

M500 P500 2U1

1U1 2V1 1V1 2W1

1W1

X111

X121

X141

X161

X171

X172

LED displays

X181

X351

Device bus

LED displays

Electronics power supply faulty

Device is not ready, no enable signal (term. 63, 64 or 48)

Line fault

Red

Green

Red

Yellow

Red

5 V voltage level fault

Device ready (DC link precharged)

DC link overvoltage

1) Jumpers inserted in delivery state

Fig. 2-5 Interfaces on mains supply module (OI and I/RF module)

P600

DC link connection

M600

Power supply

U1 V1 W1 X131 PE

2-26

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

02.99

Mounting the HLA closed-loop control plug-in module

HLA closed-loop control plug-in module (6SN1115–0BA11–0AA1)

Slotted screw M3 / 0.8 Nm

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

Shield connection

2 Confi

50 mm carrier module (universal empty housing) (6SN1162–1AA00–0AA0)

uration10.03

P600

M600

Order No.

Slotted screw M3 / 0.8 Nm

Fig. 2-6 Mounting the HLA closed-loop control plug-in module in 50 mm carrier module (universal empty housing)

M5 / 3.0 Nm

M4 / 1.8 Nm

Rating plate/Order No.

2.2.2 Required FW packages

S SINUMERIK 840D NCK SW 5.1

incl. SIMODRIVE 611 digital HLA module 1.0

S SINUMERIK 840D MMC SW 5.1

or SINUMERIK 840D HMI SW 6

2.2.3 Hardware requirements

S NCU 561.2, 571.2, 572.2, 573.2

2-27

2 Confi

uration 10.03

2.3 Configuring the hydraulic drive

02.99

General information

Hydraulic drives are generally configured by technical sales personnel from the hydraulics supplier, Rexroth.

The configuration is based on the data from the questionnaire in Subsection

2.1.2. Please refer to Appendix A for a description of hydraulic components. The hydraulic drive is configured in the sequence of steps described below.

2.3.1 Cylinder selection

Piston and rod diameter

The piston and rod diameters are calculated according to Pascal’s theorem on the basis of the necessary compressive and tensile forces F and a standard pressure value of P=40...100 bar for machine tools (a maximum pressure setting of 350 bar is permitted).

The force value calculation must include friction and acceleration forces as well as the actual feed force. Pistons and rods with the following standard diameter dimensions are available:

Table 2-2 Typical cylinder data

Name

Piston ∅ 25 32 40 50 63 80 100 125 Rod ∅ Standard 12 14 18 22 28 36 45 56 Rod ∅ Optional 18 22 28 36 45 56 70 90

p =

F A

Diameter

Stroke length

2-28

The stroke is identical to the working stroke of the drive except that it includes a few additional safety reserves.

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

02.99

2 Confi

uration10.03

2.3 Configuring the hydraulic drive

Mounting

Mounting position

In order to ensure good control quality, backlash-free mountings, e.g. base or flange mountings, must be used.

Flange mounting

Flange at front Flange at rear

Base mounting

Fig. 2-7 Cylinder mounting methods

This will depend on the machine’s situation and affects the choice of shut-off valves (see Subsection 2.3.3). Vertical loads must be protected via poppet valves. Forces due to weight must be taken into account in the final calculation of the operating pressure (MD 5151: CYLINDER_A_ORIENTATION).

See Fig. 4.9 in Chapter 4-17 for the possible cylinder mounting positions.

Seal, friction

Cylinder pipes

Position measuring system

Suitable seals must be used to minimize friction. Transitions from static to sliding friction have a particularly adverse affect on the control result.

The slide guide friction must be added to the cylinder friction. A friction compensation setting has been provided in the HLA module (MD 5460: FRICTION_COMP_GRADIENT) for the purpose of counteracting initial friction.

The distance between the cylinder and servo solenoid valve must be kept as short as possible for the sake of the drive’s natural frequency (compressibility of the oil volume). In ideal cases, the servo solenoid valve is flange-mounted directly on the cylinder.

The incremental and absolute position measuring systems supported by the HLA module are mounted on the machine slide. It is also possible to use position measuring systems (SSI encoders) integrated in the cylinder.

2-29

2 Confi

uration 10.03

2.3 Configuring the hydraulic drive

2.3.2 Selection of servo solenoid valves

Reference: /BR1/, “Servo solenoid valves” catalog

02.99

Valve types (overview)

The HLA module supports servo solenoid valves with on-board electronics (OBE) supplied by Bosch Rexroth AG. The technical data for these valves and valves supplied by other manufacturers is stored in the HLA module software. The drive is parameterized automatically when the order number is entered. The following table lists the various types of servo solenoid valve and HR servo solenoid valves (HR = High Response) available from Bosch Rexroth AG.

For a complete list, please see Tables 2-4 to 2-10.

Table 2-3 Overview of servo solenoid and HR servo solenoid valves from Bosch Rexroth AG

Description

4WRPEH (directly-controlled servo solenoid valve)

4WRPE (pilot-controlled servo solenoid valve)

Nomi-

nal

size

6 up to 40 / 35 bar linear and

10 up to 100 / 35 bar linear and

10 up to 70 / 5 bar with knee 40

16 up to 150 / 5 bar with knee 40

Nominal flowrate (l/min)

for nominal pressure drop

per control edge (bar)

Character-

istic

with knee

Limit fre-

quency

(Hz)

110

4WRPEH (directly-controlled HR servo solenoid valve)

4WRVE (pilot-controlled HR servo solenoid valve)

1) The characteristic values specified for the valve limit frequencies relate to an amplitude of 5% and a

phase offset in the Bode diagram of –90°, see also data in catalog supplied by Bosch Rexroth AG.

6 up to 40 / 35 bar linear and

with knee

10 up to 70 / 35 bar with knee 80

16 up to 150 / 5 bar with knee 80

210

2-30

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) – 03.06 Edition

+ 242 hidden pages

siemens 611 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Preface

Table of Contents

General Information

1.1 Application examples

1.2 Comparison of electric and hydraulic drive systems

1.3 Structure of an electro-hydraulically controlled drive axis

1.3.1 Machine commutation

1.3.2 Cylinder

1.3.3 Control valve

1.3.4 Valve amplifier

1.3.5 Shut-off valve

1.3.6 Position measuring system

1.3.7 SINUMERIK 840D/SIMODRIVE 611 digital

1.3.8 Hydraulic power unit

Configuration

2.1 Configuring steps

2.1.1 Procedure for configuring electrical components

2.1.2 Procedure for configuring hydraulic components

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

2.2.1 System overview

2.2.2 Required FW packages

2.2.3 Hardware requirements

2.3 Configuring the hydraulic drive

2.3.1 Cylinder selection

2.3.2 Selection of servo solenoid valves