Siemens Sinumerik 840D Series, Simodrive 611 digital, SINUMERIK 840DiE, SINUMERIK 840D, SINUMERIK 840DE Function Manual

...

Description of Functions 10/2003 Edition

sinumerik

& simodrive

HLA Module SINUMERIK 840D SIMODRIVE 611 digital

General 1 Configuration 2 Installation and Start-Up 3 Firmware Drive Functions 4

SINUMERIK 840D SIMODRIVE 611 digital

HLA module

Description of Functions

Hardware Drive Functions 5 Hydraulics Diagnostics 6 Peripherals/Accessories 7 Service 8

Valid for

Control Software Version

SINUMERIK 840D 5, 6 SINUMERIK 840DE (export version) 5, 6 SINUMERIK 840Di 2 SINUMERIK 840DiE (export version) 2

10.03 Edition

Hydraulics A Abbreviations B Definition of Terms C References D

EC Declaration of

Conformity E Index F

O Printed in Germany

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

This manual is supplied as part of the CD-ROM documentation (DOCONCD) Edition Order no. Remarks 03/04 6FC5 298-7CA00-0BG3 C

Trademarks SIMATICr, SIMATIC HMIr, SIMATIC NETr, SIROTECr, SINUMERIKr, SIMODRIVEr and MOTION-CONNECTr 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.

More information is available on the Internet at: http://www.siemens.com/motioncontrol

This document was created with Interleaf V 7

The reproduction, transmission or use of this document or its contents is not permitted without express written authority. Offenders will be liable for damages. All rights, including rights created by patent grant or registration or a utility model or design, are reserved.

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

rder no. 6SN1197-0AB60-0BP3

Siemens Aktiengesellschaft.

Preface

Notes for the Reader

Structure of the documentation

Target group

The documentation for SIMODRIVE 611/SINUMERIK 840D is organized on the following levels:

S General Documentation S Manufacturer/Service Documentation S Electronic Documentation

The description of functions of the HLA module is part of the SIMODRIVE/SINUMERIK documentation.

For further information about the publications listed in the documentation overview and other available SIMODRIVE/SINUMERIK publications, please contact your local Siemens sales office.

This Description of Functions 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 shall neither become part of nor modify any prior or existing agreement, commitment or relationship. The Sales Contract contains the entire obligations of Siemens. The warranty contained in the contract between the parties is the sole warranty of Siemens. Any statements contained herein do not create new warranties or modify the existing warranty.

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

Objective

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 hydraulic

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

Preface

Hydraulics In this document, information about specific hydraulic functions refers to functions provided by Bosch Rexroth AG.

10.03

How to use this manual

Definition of qualified persons

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

S General table of contents S Header (as orientation aid):

- The top line of the header is the main section number

- The second line of the header is the subsection number

S Appendix with

- abbreviations, terms and references

- Glossary (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 Training or instruction/permit for connecting electric circuits and devices in

accordance with safety technology standards.

S Training and instruction in maintenance and use of adequate safety equip-

ment according to safety regulations.

S Trained in rendering first aid.

Software version

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) - 10.03 Edition

10.03

Preface

Explanation of symbols

The following danger and warning concept is used in this document:

Danger

This symbol appears whenever death, severe physical injury or substantial material damage

will occur if appropriate precautions are not taken.

Warning

This symbol appears whenever death, severe physical injury or substantial material damage

may occur if appropriate precautions are not taken.

Caution

This symbol appears whenever minor physical injury or material damage may occur if appropriate precautions are not taken.

Caution

This warning (without warning triangle) indicates that material damage may occur if appropriate precautions are not taken.

Notice

This warning indicates that an undesirable result or an undesirable state may occur if the information is ignored.

Note

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

vii

Hotline

Preface

10.03

The hotline phone numbers appear in Chapter 8. Should you have any questions about the documentation (suggestions, correc-

tions), please fax them to:

Fax: +49 (9131) 98-2176

Fax form: See the reply form at the end of the brochure

viii

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

10.03

Preface

Danger and warning notices

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.

The personnel must take into account the information provided in the technical customer documentation for the product, and be familiar with and observe the specified danger and warning notices.

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

Dangerous mechanical movements may occur in the system during operation. All work on the electrical system must be carried out when the system has

been disconnected from the power supply.

Warning

Proper transportation, expert storage, installation and mounting, as well as careful operation and maintenance are essential for this device to operate correctly and reliably.

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.

The information given in catalogs and quotations applies additionally to special versions of machines and equipment.

Caution

When attaching the connecting cables, you must ensure that:

S They must not be damaged S They must not be stressed S They cannot come into contact with rotating parts

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.

10.03

Preface

ESD notices

Electrostatic Sensitive Devices

Components which can be destroyed by electrostatic discharge are individual components, integrated circuits or boards which, when handled, tested or transported, could be destroyed by electrostatic fields or electrostatic discharge. These components are designated as ESDS (ElectroStatic Discharge Sensitive Devices).

Handling of modules containing devices sensitive to electrostatic discharge:

S When handling components which can be destroyed by electrostatic

discharge, it must be ensured that personnel, the workstation and packaging are well grounded,.

S As a general principle, electronic modules should only be touched if this is

absolutely unavoidable (owing to repair work, etc.).

S Touch components only if

- you are constantly grounded by an antistatic armband,

- you are wearing ESD boots or ESD boots with grounding strips in conjunction with ESD flooring.

S Modules may be placed only on electrically conductive surfaces (table with

ESD top, conductive ESD foam plastic, ESD packing bags, ESD transport containers).

S Keep modules away from visual display units, monitors or TV sets

(minimum distance from screen > 10 cm).

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

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

S Measurements on modules are allowed only if

- the measuring instrument is properly grounded (e.g. equipment grounding conductor), or

- before measuring, with an isolated measuring instrument, the measuring head is briefly discharged (e.g. touching a bare metal control housing).

S Closed-loop control modules, option modules and memory submodules

may only be held by the front plate or on the board edges.

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

1 General 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Typical applications 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Comparison of electric and hydraulic drive systems 1-16. . . . . . . . . . . . .

1.3 Structure of an electro-hydraulically-controlled drive axis 1-18. . . . . . . .

1.3.1 Machine guideway 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Cylinder 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.3 Servo solenoid valve 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.4 Valve amplifier 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.5 Shutoff valve 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.6 Position measuring system 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.7 SINUMERIK 840D/SIMODRIVE 611 digital 1-20. . . . . . . . . . . . . . . . . . . .

1.3.8 Hydraulic power unit 1-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Configuration 2-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Configuring steps 2-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Procedure for configuring electrical components 2-21. . . . . . . . . . . . . . .

2.1.2 Procedure for configuring hydraulic components 2-22. . . . . . . . . . . . . . .

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital 2-24. . . . . . . .

2.2.1 System overview 2-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Required FW packages 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.3 Hardware requirements 2-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Configuring the hydraulic drive 2-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Cylinder selection 2-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Selection of servo solenoid valves 2-32. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Selection of shutoff valves 2-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.4 Natural frequency of the hydraulic drive 2-42. . . . . . . . . . . . . . . . . . . . . . .

2.3.5 Hydraulic power unit 2-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Connection 2-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Internal power supply 2-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 External power supply 2-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.3 Grounding concept/Electromagnetic compatibility (EMC) 2-48. . . . . . . .

3 Installation and Start-Up 3-49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of start-up process 3-49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Drive configuration 3-51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Modify drive machine data 3-52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Valve selection 3-53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Cylinder selection 3-56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 Mounting/supply data 3-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7 Measuring system data 3-58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8 Modifying data 3-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9 Fine adjustment and optimization 3-62. . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.1 Control direction, travel direction 3-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents

3.9.2 Offset adjustment 3-64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.3 Velocity adjustment 3-65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.4 Referencing data for HLA 3-67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.5 Controller optimization 3-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.6 Controller adaptation 3-73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.7 Hydraulic/electrical interpolation 3-74. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.10 File functions 3-75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11 Start-up functions 3-76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.1 Measurement function 3-77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.2 Function generator 3-84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.3 Circularity test 3-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.4 Servo trace 3-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.11.5 DAC parameter settings 3-89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.12 User views 3-90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.13 Display options 3-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.14 Configuring an OEM valve list 3-92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.03

3.15 System variables 3-94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Firmware Drive Functions 4-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Block diagram of closed-loop control 4-95. . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Functions 4-97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Overview of functions 4-97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Parameter set changeover 4-98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Closed-loop velocity control 4-99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Velocity adaptation/feedforward control 4-99. . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Velocity controller 4-106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Dynamic stiffness control (DSC) 4-114. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Closed-loop force control 4-115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Force limitation 4-117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Static friction injection 4-118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 Force controller 4-119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Manipulated voltage output 4-124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Characteristic compensation 4-124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 Control output filter 4-130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.3 Manipulated voltage limitation 4-132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Supply unit data 4-133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 Valve 4-134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8 Cylinder drive 4-136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9 Drive data 4-137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10 Position measuring system 4-140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11 Pressure sensing system 4-145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.12 Terminals 4-146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13 Monitoring functions 4-152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xii

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

10.03

Contents

4.13.1 Alarms 4-152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.2 Variable signaling functions 4-154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14 Service functions 4-159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.1 Min/max display 4-159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.2 Monitor 4-160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14.3 Diagnostic machine data 4-161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15 Parameters table 4-165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Hardware Drive Functions 5-175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Interface overview 5-175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Measuring system 5-178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Pressure sensor system 5-179. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 Servo solenoid valve 5-180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.4 Terminals 5-181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.5 Test sockets (diagnostics) 5-182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.6 Bus interfaces 5-183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 System environment 5-184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Notes 5-185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Climatic and mechanical environmental conditions in operation 5-185. . .

5.3.2 Transport and storage conditions 5-186. . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Stress caused by contaminants 5-187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Hydraulics Diagnostics 6-189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Peripherals/Accessories 7-219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Measuring systems 7-219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Encoders, linear scales 7-219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Connection diagrams 7-222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 BERO (X432) 7-226. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Pressure sensor 7-227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Sensor equipment 7-227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.2 Connection diagrams 7-231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Connection diagrams for servo solenoid valves 7-232. . . . . . . . . . . . . . . .

8 Service 8-237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Areas of responsibility at Siemens/Bosch Rexroth 8-237. . . . . . . . . . . . . .

8.2 Hotline and contacts 8-238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A Hydraulics A-239. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Servo solenoid valves A-239. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.1 General A-239. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.2 Directly-controlled servo solenoid valves, sizes 6 and 10 A-247. . . . . . . .

A.1.3 Pilot-controlled servo solenoid valves, sizes 10 and 16 A-249. . . . . . . . . .

A.1.4 HR servo solenoid valves A-252. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Cylinder A-254. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xiii

B Abbreviations B-257. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents

C Definition of Terms C-259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D References D-261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.1 Electrical applications D-261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.2 Hydraulic applications D-274. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E EC Declaration of Conformity E-275. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F Index Index-279. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.03

xiv

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

General

1.1 Typical applications

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 (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 closed-loop control plug-in unit of 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 on 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 equal partners and integrating them into a standard NC.

To place equal emphasis on the functional importance of both hydraulic and electric drives and make them available as a combined system within an interpolating axis grouping.

S Firmware

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

S Hardware

The mode of integration into the SIMODRIVE 611 system is compatible with the SIMODRIVE 611 digital SRM(FDD)/ARM(MSD). This basically involves the following interfaces:

- Drive bus

- Device bus

- Power supply system

1-15

1.2 Comparison of electric and hydraulic drive systems

1 General

1.2 Comparison of electric and hydraulic drive systems

Table 1- 1 Comparison of electric and hydraulic drive systems

10.03

Criterion Electric direct drive Electric drive with

Power density / mounting space requirements

Mass inertia of moving parts

Operational reliability, service life

S Low weight and S reduced spatial re-

quirements of the electric part on the machine table.

Electric part on machine table has low mass.

Service life depends in principle only on linear guides.

S Servomotor and leads-

S Problematic with lim-

Servomotor and leadscrew have high mass moment of inertia.

S Shock-sensitive. S Service life limited by

leadscrew

crew large and heavy.

ited mounting space.

leadscrew.

S Sudden failure

possible.

Servicing 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 to betw. 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.

Restriction with larger

forces.

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

v 6 m v 3 m

max

/2π

Hydraulic drive

S Cylinder and servo sole-

noid valve are light-weight and compact.

S Transfer of E motor to

hydraulic 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 long service life.

S Warning of wear. 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.

Practically unlimited (cylinderφ, 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)

1-16

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

1 General

02.99

10.03

1.2 Comparison of electric and hydraulic drive systems

Table 1-1 Comparison of electric and hydraulic drive systems

Criterion Hydraulic driveElectric drive with

Noise Noise produced by

Acceleration

Electric direct 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

Electric Hydraulic

Spindle speed Velocity Velocity Current flowrate 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 on

hydraulic power unit.

Required in some cases, in power unit only

1-17

1.3 Structure of an electro-hydraulically-controlled drive axis

1 General

1.3 Structure of an electro-hydraulically-controlled drive axis

SINUMERIK 840D, SIMODRIVE 611 digital with HLA module

Shutoff valve

Servo solenoid value with valve amplifier (OBE)

Machine guideway

02.99

10.03

Hydraulic power unit

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

1.3.1 Machine guideway

Guide mechanism

Friction

Hydrodynamic and hydrostatic slideways or roller slideways allow machine slides and tables to move in straight lines with minimum friction and maximum precision.

A degree of friction can be very useful for damping oscillations. However, excessive friction, especially pronounced transitions from static to

sliding friction, have a negative effect on the control result and impair the control loop stability.

Position measuring system

1-18

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

1 General

02.99

10.03

1.3.2 Cylinder

1.3 Structure of an electro-hydraulically-controlled drive axis

Construction

Quality criteria

The cylinder represents the simplest form of linear motor and can be integrated easily into the machine guide. 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 Servo solenoid valve

Task

Function

This is the final control element in the closed control loop and forms the electrohydraulic converter.

The valve steplessly converts electrical signals into a 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 Shutoff 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.

1-19

1.3 Structure of an electro-hydraulically-controlled drive axis

1 General

02.99

10.03

Function

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

The highest accuracy requirements are fulfilled 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 controls 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 electrohydraulic control loop and the interfaces to

S the shutoff valve, S the servo solenoid valve, S the position measuring system and S the central arithmetic logic 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 NCU modules with graded scope of functions is provided to

allow the SINUMERIK 840D system to be tailored to the varying functional requirements of machines. The control can therefore be optimally adapted to individual machines and machining applications and is suitable for equipping standardized machine series.

1.3.8 Hydraulic power unit

This unit supplies hydraulic energy. It is installed at a distance from the drive axis. Accumulators are employed to

compensate for strongly fluctuating hydraulic energy requirements and to minimize the installed power.

1-20

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 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 Bosch Rexroth AG

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

2-21

2.1 Configuring steps

2 Configuration

Phase 2

Recommended circuits EMC measures

10.03

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 question-

naire.

2-22

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

2 Configuration

02.99

10.03

2.1 Configuring steps

Questionnaire

Company: Address:

Machine: Axis: Function/designation:

Straight-cut control: Continuous-path control:

Drive specification Cylinder dimensions [mm]

Piston diameter: 1st rod diameter: 2nd rod diameter: Stroke:

Cylinder mounting position: Velocity tolerance

051-001/

Design of hydraulic NC axes

Hydraulic NC axes

Dimensioning of systems with linear motions

Contact person:

Department: Phone:

Accuracy requirements Positioning precision [µm]

from rapid traverse: from feedrate: Path accuracy:

[mm/min]:

Connection: Position measuring 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:

system

Make: Type: Other: Resolution [µm]:

Numerical control Make: Type:

incremental,

output signal ...

SIEMENS 840D

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

2-23

2 Configuration

02.99

10.03

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.in

Fig.

2-3

O 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

I Mains supply module

(MS)

Machine control panel

G11)ISA adapter

G21)Full CNC keyboard

References: /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 References: /Z/, Catalog of Accessories NC Z

H 9 H10

Cable See Chapter 7, Peripherals/Accessories to H12

I SIMODRIVE hydraulics

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 Shutoff valve S External 24 V supply S BERO input S “Power enable”

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

drive grouping)

2-24

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

10.03

2 Configuration

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

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

No.in

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-

Distribution 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

References: 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.

2-25

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

2 Configuration

02.99

10.03

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

2-26

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

2 Configuration

02.99

10.03

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

O B

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

O B

Hydraulic drive, axis 2

Axis 1

HLA

-X101

BOBB

-X102

Axis 2

Position measuring system

-X111

-X112

Pressure sensor

Servo solenoid

-X121

X431 X432

-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

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

2-27

2.2 Integration in SINUMERIK 840D/SIMODRIVE 611 digital

2 Configuration

02.99

10.03

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

2-28

SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition

10.03

2 Configuration

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

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

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 w5.1

including SIMODRIVE 611 digital HLA module w1.0

S SINUMERIK 840D MMC SW u5.1

or SINUMERIK 840D HMI SW w6

2.2.3 Hardware requirements

S NCU 561.2, 571.2, 572.2, 573.2

2-29

2.3 Configuring the hydraulic drive

2 Configuration

2.3 Configuring the hydraulic drive

10.03

General

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

Description Diameter

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 O

Stroke length

2-30

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) - 10.03 Edition

+ 258 hidden pages

Siemens Sinumerik 840D Series, Simodrive 611 digital, SINUMERIK 840DiE, SINUMERIK 840D, SINUMERIK 840DE Function Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

HLA module

Preface

Notes for the Reader

Danger and warning notices

Table of Contents

General

1.1 Typical applications

1.2 Comparison of electric and hydraulic drive systems

1.3 Structure of an electro-hydraulically-controlled drive axis

1.3.1 Machine guideway

1.3.2 Cylinder

1.3.4 Valve amplifier

1.3.5 Shutoff 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