Wandfluh SD6 Operating Instructions Manual

Operating instructions to Enhanced Controller module SD6

OPERATING INSTRUCTIONS

ENHANCED CONTROLLER MODULE

SD6

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SD636bae.pdf

Operating instructions to Enhanced Controller module SD6

Contents

1 General information
2 Product description 3

................................................................................................................................................................................. 32.1 General

................................................................................................................................................................................. 32.2 Field of application

................................................................................................................................................................................. 32.3 Conformity

................................................................................................................................................................................. 32.4 Labelling of the product

................................................................................................................................................................................. 42.5 Type code

................................................................................................................................................................................. 52.6 Technical Data

................................................................................................................................................................................. 82.7 Block diagram

3 Safety rules 9

................................................................................................................................................................................. 93.1 Installation / Commissioning / Parameterisation

4 Construction and Function 10

................................................................................................................................................................................. 104.1 Introduction

................................................................................................................................................................................. 104.2 Description of the Function

................................................................................................................................................................................. 104.3 Characteristic optimisation

................................................................................................................................................................................. 114.4 SD6 State machine

................................................................................................................................................................................. 124.5 Operating mode

................................................................................................................................................................................. 124.6 Analogue inputs

................................................................................................................................................................................. 134.7 Cablebreak detection

................................................................................................................................................................................. 134.8 Digital inputs

................................................................................................................................................................................. 144.9 Input for digital sensor

................................................................................................................................................................................. 154.10 Outputs

................................................................................................................................................................................. 154.11 Controller Modes

................................................................................................................................................................................. 214.12 Mode of operation

5 Operating and Indicating elements

................................................................................................................................................................................. 235.1 General

................................................................................................................................................................................. 235.2 Screw terminator view

................................................................................................................................................................................. 245.3 Control elements

6 Commissioning

................................................................................................................................................................................. 266.1 Connection instructions

................................................................................................................................................................................. 286.2 Connection examples

7 Settings 29

................................................................................................................................................................................. 297.1 Introduction

................................................................................................................................................................................. 297.2 Tips for the first commissioning

................................................................................................................................................................................. 307.3 Start up help

................................................................................................................................................................................. 327.4 Default settings

................................................................................................................................................................................. 347.5 File-Menu

................................................................................................................................................................................. 377.6 Profile-Menu

................................................................................................................................................................................. 437.7 Parameters-Menu

................................................................................................................................................................................. 527.8 Configuration-Menu

................................................................................................................................................................................. 717.9 Commands-Menu

................................................................................................................................................................................. 737.10 Fieldbus-Menu

................................................................................................................................................................................. 737.11 Setup mode

................................................................................................................................................................................. 747.12 Analysis-Menu

................................................................................................................................................................................. 797.13 Help-Menu

8 System does not work 80

................................................................................................................................................................................. 808.1 Procedure

9 PASO DSV/SD6 Installation and Operation 81

................................................................................................................................................................................. 819.1 System presupposition

................................................................................................................................................................................. 819.2 Installation

................................................................................................................................................................................. 819.3 Connection to the Wandfluh card

................................................................................................................................................................................. 829.4 Mode "Off Line" and "On Line"

................................................................................................................................................................................. 829.5 Communication start up

................................................................................................................................................................................. 839.6 Communication interruption

................................................................................................................................................................................. 849.7 Program description

................................................................................................................................................................................. 869.8 Starting of PASO DSV/SD6

................................................................................................................................................................................. 879.9 Store parameter

................................................................................................................................................................................. 879.10 Limiting value error

................................................................................................................................................................................. 889.11 Description of Commands

10 Disposal 89
11 Additional information

23

26

89

3

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Operating instructions to Enhanced Controller module SD6

· Part number

· Serial number

· Software version

· Firmware version

· Card type

· Hardware configuration

1 General information

This operating instructions makes it possible to use the SD6-Electronics safely and according to specification.
The operating instructions includes instructions which Wandfluh as the manufacturer, or its resale organisations
(Wandfluh sister companies or distributors), provide to users within their duty to instruct.

For this purpose, the operating instructions mainly includes:

· information about use according to specification, installation and commissioning of the SD6-Electronics

· information about safety in dealing with control.

2 Product description

2.1 General

The SD6-Electronics is integrated in a case for top-hat rail fastening. The connections are provided by terminal
screw blocks.

2.2 Field of application

The field of application of the SD6-Electronics is situated in the industrial field.

2.3 Conformity

The SD6-Electronics have been developed and tested in accordance with the latest technical standards. Applied
in particular was the EU Guideline 2004/108/EG (EMC Guideline).

2.4 Labelling of the product

With the PC parameterisation software PASO DSV/SD6, the following information can be directly read-off the
SD6-Electronics (=electronic type code):

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2.5 Type code

Operating instructions to Enhanced Controller module SD6

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2.6 Technical Data

Design

Integrated in electronic case for top-hat rail clamping

Dimension

Amplifier and Basic Controller: 105 x 114 x 22.5mm
Enhanced Controller: 105 x 114 x 45mm
Amplifier and Controller with Profibus: 105 x 114 x 45mm

Mounting

For top-hat rail clamping

Weight

Amplifier and Basic Controller: 130g
Enhanced Controller: 220g
Amplifier and Controller with Profibus: 240g

Connection

Terminal screw blocks, max dimension 2.5mm

2

1 USB interface (connector type B)

Protection class

IP30 acc. to EN 60 529

Supply voltage
(depending on the type)

24 VDC

or 12 VDC

Voltage range

Supply voltage 24 VDC: 21 ... 30 VDC
Supply voltage 12 VDC: 10.5 ... 15 VDC

Ripple on supply voltage

< ±5 %

Fuse

Customer must integrate a slow fuse into his electrical system

Temperature drift

< 1% with DT = 40°C

No load current

40 ... 50 mA

Max. solenoid current

24VDC version 1.8 A
12VDC version 2.3 A

Analogue inputs

2 differential inputs 10-Bit (analogue input 1 + 2)
2 differential inputs 16-Bit (analogue input 3 + 4)
All inputs are not galvanically separated

SD6362DX4-BX

Analogue input 1:
Analogue input 2:
Analogue input 3:
Analogue input 4:

0...±10VDC

0...20mA, 4...20mA

0...±10VDC

0...20mA, 4...20mA

SD6362DX5-BX

Analogue input 1:
Analogue input 2:
Analogue input 3:
Analogue input 4:

0...±10VDC

0...±10VDC **

0...±10VDC

0...±10VDC

SD6362DX6-BX

Analogue input 1:
Analogue input 2:
Analogue input 3:
Analogue input 4:

0...20mA, 4...20mA

0...20mA, 4...20mA

0...20mA, 4...20mA

0...20mA, 4...20mA

SD6362DX8-BX

Analogue input 1:
Analogue input 2:
Analogue input 3:
Analogue input 4:

0...±10VDC

0...±10VDC

0...20mA, 4...20mA

0...20mA, 4...20mA

SD6362DX8-BX

Analogue input 1:
Analogue input 2:
Analogue input 3:
Analogue input 4:

0...20mA, 4...20mA

0...20mA, 4...20mA

0...±10VDC

0...±10VDC

**) 0...10VDC on SD6 with Profibus

2.6.1 General specifications

2.6.2 Electrical specifications

Operating instructions to Enhanced Controller module SD6

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Operating instructions to Enhanced Controller module SD6

Input resistance

Voltage input against ground > 18 kOhm
Burden for current input = 250 Ohm

Input for digital sensors

9-pin D-SUB connector with RS-422 interface for SSI and
Start/Stop sensors

Digital inputs

8 inputs active-high
Switching threshold high 6 - 30VDC
Switching threshold low 0 - 1VDC

Serial interface

1 USB interface (Connector Type B)

Stabilised output voltage

Supply voltage 24 VDC: + 10 VDC
Supply voltage 12 VDC: + 8 VDC

max. load 30 mA

Solenoid current

Minimum current Imin adjustable 0 ... 950 mA
Maximum current Imax adjustable

- Supply voltage 24 VDC: Imin ... max. 1.8 A

- Supply voltage 12 VDC: Imin ... max. 2.3 A

Dither

Frequency adjustable 20 ... 250 Hz
Level adjustable 0 ... 200 mA

Analogue output

Output voltage range
max. load

+/– 10 VDC

+/– 3 mA

Digital outputs

4 outputs Lowside Switch.
Umax 40 VDC
Imax -0.7 A

EMC
Immunity
Emission

EN 61000-6-2
EN 61000-6-4

Storage

packing:

The module must be stored in the original packing

Temperature range:

-25 ... +85° C

Resistance to alkali and acid:

The module must be protected against alkalis and
acids

In operation

Temperature range

-20 ... +70° C
The total solenoid current of simultaneously
powered solenoids depends on the ambient
temperature.
Further information can be found in chapter

Solenoid outputs and ambient temperature .

Resistance to alkali and acid:

The module must be protected against alkalis and
acids

2.6.3 Environment

7

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Operating instructions to Enhanced Controller module SD6

SD6: Derating of Total Solenoid Current when both Solenoid Outputs activated simultaneously

2000

2200

2400

2600

2800

3000

3200

3400

3600

3800

4000

4200

4400

4600

4800

5000

20 25 30 35 40 45 50 55 60 65 70

Ambient Temperature [°C]

Total Solenoid Current [mA]

Derating for 12V SD6

Derating for 24V SD6

2.6.4 Solenoid Outputs and Ambient Temperature

If only one solenoid output is powered at a time, then there are no restrictions and the single solenoid current
may reach the maximum current according to the Electrical Specifications over the whole temperature range.

5

But the total solenoid current of simultaneously powered solenoids depends on the ambient temperature.
Exceeding this current limit will trip the overcurrent protection circuit, the SD6 falls into the failure state and
blocks all function.
Solenoids can be powered simultaneously, i.e.on the amplifier in operating mode 4, or with inverted solenoid
outputs.

If solenoids are powered with more voltage than their nominal voltage and are so over-energized, then at fast
switching-on, the overcurrent protection may trip and the SD6 may fall into failure state and block all function.

The following graphics shows the maximum allowed total solenoid current over ambient temperature when both
solenoids are powered at the same time.

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LED red

LED yellow

DC

DC

X1-5

X1-6

X1-7

Supply voltage

Stailized
output voltage

+

0 VDC

LED
green

X1-9

X1-10

-

+

Analogue input 1

X1-11

X1-12

-

+

Analogue input 2

X1-1

Digital input 1

X1-2

Digital input 2

Digital ground

Solenoid A

U

I

X1-15

X1-16

Solenoid B

U

I

X1-13

X1-14

Digital output 1

X1-3

Digital output 2

X1-4

Microcontroller

FEPROM

RAM

EEPROM

PWM

A/D

PWM

A/D

+

-

+

-

A

D

Digital output 3

Digital output 4

-

Analogue input 3

-

+

Analogue input 4

+

-

+

-

A

D

10-Bit

16-Bit

Stailized
output voltage

Ref

SPI

Digital input 3

Digital input 4

Digital input 5

Digital input 6

Digital input 7

Digital input 8

SPI

D

A

12-Bit

Analogue output

X2-1
X2-2

X2-4

USBX2-3

+

-

Ref

Output +24VDC
Output +5VDC

Clock output +

Clock output ­Data input +

Data input -

Sensor-ground

Analogue ground

X1-8

Analog ground

X1-17

X1-18

X1-19

X1-20

X1-21

X1-22

X1-29

X1-31

X1-25

X1-26

X1-27

X1-28

+

X1-32

X1-30

X1-23

X1-24

X3-2

X3-1

X3-6

X3-5

X3-8

X3-9
X3-7

2.7 Block diagram

Driving through the analogue interface

Operating instructions to Enhanced Controller module SD6

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Operating instructions to Enhanced Controller module SD6

3 Safety rules

3.1 Installation / Commissioning / Parameterisation

· These operating instructions have to be carefully studied beforehand and the instructions are to be complied
with.

· Prior to the installation, all power supply voltages and any other energy sources have to be disconnected.

· The installation/assembly must only be carried out by specialist personnel with electrical knowledge.

· Take into account precautionary measures concerning components on the module, which are subject to

damage as a result of electrostatic discharge.

· Wrong manipulations by the personnel cannot be prevented by the SD6-Electronics.

· Before the switching on of the supply voltage, the fuse protection, the correct wiring and the conformity of the

power supply voltage with the permissible supply voltage range have to be verified.

· The SD6-Electronics monitors the working conditions within the electronics and
within the installation. Uncontrolled movements or force changes caused by
unforeseen errors of the SD6-Electronics cannot be prevented in any case.

· Danger for persons has to be avoided by installing an emergency stop device which
cuts off the power to the system.

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4 Construction and Function

Operating instructions to Enhanced Controller module SD6

Refer to section "Block diagram" .

8

4.1 Introduction

· All inputs and outputs have to be contacted through the terminal screw block

· At the device front panel, there is a USB interface, through which the parameterisation and the diagnostics

can be made by using the PC-Parameterisation software PASO DSV/SD6

· In the factory, the SD6-Electronics are adjusted with the default values. The adjustment to the valves being

used, has to performed by the user.

4.2 Description of the Function

With the SD6-Electronics, it is possible to build different closed circuit controls. Apart from controls for pressure,
volume flow or position, also pQ- and alternating controls can be implemented. They can optionally be adjusted
in the form of a controller mode. In addition, an amplifier part is integrated, with which the connected valve resp.
its solenoid is directly driven.

The command value is conducted to the controller as an electric signal, a sensor records the feedback value,
this signal is also conducted to the controller. In correspondence with the control difference (command value ­feedback value), a control signal (solenoid current) is output to the valve.

By means of the scaling of the command value and feedback value, all further inputs can be made in the
required, resp., selectable physical unit (e.g., bar or mm, etc.). When the command value has been reached,
then the SD6 is capable of outputting a digital signal (optionally an „Error“- or „Target window reached “ - signal).

The SD6 - controller has a command value generator, with which the up - and down ramp of the internal
command value can be predefined. The controller is designed as a PID - controller. The control characteristics
as a result of this can be equalised and adapted to the control circuit. Furthermore, it is also possible to
switch-off the control system completely for testing - and adjusting purposes. The SD6 in this case operates in
correspondence with normal amplifier electronics.

Furthermore the controller module “SD6” comprises digital inputs for the enabling, for controlling the manual
operation and for the profile generator as well as digital outputs, which output the conditions „Error“ or „Target
window reached “.

Changed parameters can be saved in a non-volatile memory, so that following a renewed switching-on of the
control system they are still available once again.

The SD6 - electronics in addition have a signal recording function. By means of PASO, this makes possible a
recording of different system signals, such as, e.g., command value / feedback value, control difference,
solenoid currents, etc., which are able to be graphically displayed on a common time axis.

The manual operating mode makes available commands such as Forwards, Backwards, Rapid Speed and
Creep Speed. With this it is possible to put the connected hydraulics into operation without a super-ordinate
control system.

4.3 Characteristic optimisation

The SD6 electronics are provided with a possibility to optimise the characteristic “Preset value input – solenoid
current output”. The user is able to create a characteristic (e.g. a linearised characteristic) which matches his
own application. The characteristic optimisation can be turned on or off (refer to “Parameters_Valves” on page

21). This setting is available only with a SD6-electronics with software version higher than 1.1.1.6 and PASO with

software version higher than 1.5.0.9!

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Operating instructions to Enhanced Controller module SD6

Status

Description

Disabled

· The SD6-Electronics are disabled, no solenoid current will be active

· In this state, with the command "Local operation" resp. "PASO operation"

(refer to section "Commands_Local Operating / PASO" ) the operating
mode can be set.

Active

· The SD6-Electronics are enabled

· The SD6-Electronics can be operated according to the selected operating

mode

· Changing the operating mode is not possible

Transition

Description

TR_0

Switching-on the supply voltage

TR_1

Enable
This is made in the operating mode "Local" through the digital input "Enable
control" (refer to section "Digital inputs" ) and in the operating mode
"Remote PASO" through the command "Enable" (refer to section

"Commands_Disable / Enable" ).

TR_2

Disable
This is made in the operating mode "Local" through the digital input "Enable
control" (refer to section "Digital inputs" ) and in the operating mode
"Remote PASO" through the command "Enable" (refer to section

"Commands_Disable / Enable" ).

4.4 SD6 State machine

In the following, with the help of a status diagram it is described, how the start-up of the SD6-Electronics takes
place and which statuses are reached when and how.

The following table describes the possible statuses and what is done in these statuses:

The following table describes the transitions from one status to the next one:

13

72

13

72

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Operating instructions to Enhanced Controller module SD6

Operating mode

Activating with

Description

Local

Menu point "Commands_Local Operating"

Operating via analogue and digital inputs
on the SD6-Electronics

Remote PASO

Menu point "Commands_PASO Operating

Operating direct with the PASO

SD6-Type

Analogue input 1
(10-bit resolution)

Analogue input 2
(10-bit resolution)

Analogue input 3
(16-bit resolution)

Analogue input 4
(16-bit resolution)

SD6362DX4-BX

0...10VDC

0...±10VDC
(only with 2-sol
control modes)

0...20mA, 4...20mA

0...10VDC

0...±10VDC
(only with 2-sol
control modes)

0...20mA, 4...20mA

SD6362DX5-BX

0...10VDC

0...±10VDC
(only with 2-sol
control modes)

0...10VDC

0...±10VDC **
(only with 2-sol
control modes)

0...10VDC

0...±10VDC
(only with 2-sol
control modes)

0...10VDC

0...±10VDC
(only with 2-sol
control modes)

SD6362DX6-BX

0...20mA, 4...20mA

0...20mA, 4...20mA

0...20mA, 4...20mA

0...20mA, 4...20mA

SD6362DX7-BX

0...10VDC

0...±10VDC
(only with 2-sol
control modes)

0...10VDC

0...±10VDC **
(only with 2-sol
control modes)

0...20mA, 4...20mA

0...20mA, 4...20mA

SD6362DX8-BX

0...20mA, 4...20mA

0...20mA, 4...20mA

0...10VDC

0...±10VDC
(only with 2-sol
control modes)

0...10VDC

0...±10VDC
(only with 2-sol
control modes)

4.5 Operating mode

The SD6-Electronics have 2 operating modes. The following table describes, what can be done in the different
operating modes and how they can be activated:

The current operating mode is displayed in the status line (refer to section "Starting of PASO DSV/SD6" ).

86

For more information about the operating mode "Local" and "Remote", please refer to section

"Commands_Local Operating / PASO" .

72

4.6 Analogue inputs

· The applied analogue signal is digitised in the 10Bit A/D converter at analogue inputs 1 and 2 resp. in the 16Bit

A/D converter at analogue inputs 3 or 4.
Attention: By the input range 4 ... 20mA, the resolution is < 10Bit resp. < 16Bit!

· Differential inputs

All analogue inputs are differential inputs. Differential inputs are used if the ground potential of the external
command value generator does not agree with the ground on the SD6-Electronics.
If the differential input is intended to use like an analogue input against ground, the - (minus) connection of the
differential input must be connected to the ground of the SD6-Electronics. In this case please attend that the
solenoid current can cause a voltage drop between the SD6-Electronics and the power supply. It is
recommended to connect the - (minus) connection as near as possible to the power supply.

**) 0...+10VDC on SD6 with Profibus

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Operating instructions to Enhanced Controller module SD6

4.7 Cablebreak detection

The analogue inputs with input signal range of 4...20mA can be detected for a cablebreak. If a cablebreak is
present (input signal less than 3mA), the corresponding solenoid outputs will be blocked and the output "Error"
will be active. The following conditions had to be performed:

· The input signal must be a current value 4 ... 20mA

· The parameter "Cablebreak" must be on "On"

Attention: Until a cablebreak will be detected, a time delay of about 100ms will pass. During this time, the
cylinder can make unintentional movements or unintentional force changes.

4.8 Digital inputs

· Digital input 1 " Enable control"

The digital input is active-high (refer to section "Electrical specifications" ).
If this input is set, the SD6-Electronics are enabled. Without this enable, no solenoid current will be output.
This digital input can be set also through the parameterisation software PASO DSV/SD6 (refer to section

"Configuration_Digital I/O" ).

65

· Digital input 2 "Automatic / Manual operation"

At manual operation (digital input low) the command value is being generated by digital inputs 3...5. For this
two velocities are available in both directions.
At automatic operation (digital input high) the command value is being generated by the profile generator or
read from an analog input, depending on the state of the digital inputs 3...8.
To switch between manual and automatic operation, the SD6 has to be disabled by deactivating digital input

1.

· Digital input 3 "Manual forward" or "Profile / Sequence"

Manual operation: When the digital input is activated the command value will be incremented. The velocity

depends on digital input 5 "Rapid speed / Creep speed".
Automatic operation: Choice between running through a complete profile (digital input high) or an individual
sequence (digital input low).

· Digital input 4 "Manual reverse" or "Start"

Manual operation: When the digital input is activated the command value will be decremented. The velocity

depends on digital input 5 "Rapid speed / Creep speed".
Automatic operation: Depending on digital input 3 "Profile / Sequence" the running through of the complete
profile or of the next sequence only is started.

· Digital input 5 "Rapid speed / Creep speed" or "Stop"

Manual operation: Changeover between rapid speed (digital input high) and creep speed (digital input low).
Automatic operation: As long as the digital input is high the axis can move. As soon as the digital input

becomes low the movement is stopped (set-point value = feedback value).

· Digital input 6...8 "Profile selection"

These digital inputs only take effect in automatic operation. Profiles can only be used in closed loop control
modes (an exception is the pQ-control mode, where no profiles can be used). How to select the profiles is
shown in the table below. If profile 0 is selected the command value will be read from one of the analogue
input. A detailed description of the profiles is located in the section "Profile-Menu"

5

37

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Operating instructions to Enhanced Controller module SD6

Digital input 6

Digital input 7

Digital input 8

Profile

000

* 0 (analogue command value)

100101021103001410150116111

7

* with control mode "Alternating control (2-sol)" the analogue command value will not read if profile selection
is 0. In this case, the command value will be set to the actual value (= axis remains controlled at the actual
position). Should be used an analogue command value, the corresponding signal type must be selected
(refer to section "Configuration_Signal Scaling ").

53

4.9 Input for digital sensor

This input makes it possible to connect digital sensors with SSI- or Start/Stop-Interface.

SSI-Interface

SSI-Interface according RS-422 standard with a baudrate of 300kHz.

Start/Stop-Interface

This Interface supports sensors with a Start/Stop-Interface as they are available e.g. from Balluff or MTS.

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4.10 Outputs

· Proportional solenoid outputs A and B

The max. 2 solenoid outputs have a current output with 1000 Hz Pulse-Width-Modulation with superimposed
dither.

· Analog output

The analog output can be assigned to the following signals via the PASO DSV/SD6 (depending on the control
mode, different signals are available):

- command value for the solenoid driver

- scaled command value

- scaled feedback value (only with closed loop control modes)

- scaled control deviation (only with closed loop control modes)
The signal at the analog output can be used for driving a valve with integrated electronics which has a voltage

interface. The output level can be adjusted (refer to section "Configuration_Analog output" ).

· Digital outputs

The following digital outputs are available:

- Digital outut 1 "Error"

- Digital outut 2 "Solenoid B active", "Inside target window / End of Seq"

- Digital outut 3 "Trailing error"

- Digital outut 4 "Profile End reached"
The digital output can be configured by the PASO DSV/SD6 Software (refer to section "Configuration_Digital

I/O" ).

Operating instructions to Enhanced Controller module SD6

65

65

4.11 Controller Modes

The SD6-Electronics provide the following controller modes:

· Controller mode 3 "Pressure/flow valve open loop"

Control of a pressure relief-, pressure reducing- or flow control valve in open loop (without feedback signal).
The number of solenoids, which are activated, depends on the selected mode of operation (refer to section

"Mode of operation" ).

This mode of operation corresponds to the "Device Control Mode = 3" of the fieldbus device profile Fluid
Power Technology.

52

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Operating instructions to Enhanced Controller module SD6

· Controller mode 4 "Pressure/flow valve closed loop (1-sol)"

Control of a 1-solenoid pressure relief-, pressure reducing- or flow control valve in closed loop (with feedback
signal). It can only be activated one solenoid (correspond to solenoid driver 1).

In this controller mode, the parameter "Mode of operation" has no meaning (refer to section "Mode of

Operation" ).

52

This mode of operation corresponds to the "Device Control Mode = 4" of the fieldbus device profile Fluid
Power Technology.

Example Application:
Pressure Control: with one proportional pressure relief valve, the pressure p is held constant to the command
pressure value w.

Example Application: Flow Control: with one proportional throttle valve, the flow Q is held constant to the flow
command value w.

· Controller mode 6 "Position open loop"

Control of a spool valve in open loop (without feedback signal).
The number of solenoids, which are activated, depends on the selected mode of operation (refer to section

"Mode of operation" ).

52

This mode of operation corresponds to the "Device Control Mode = 6" of the fieldbus device profile Fluid
Power Technology.

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Operating instructions to Enhanced Controller module SD6

· Controller mode 7 "Speed control closed loop (2-sol)"

Control of a 2-solenoid pressure relief-, pressure reducing- or flow control valve in closed loop (with feedback
signal). It can be activated two solenoids.

In this controller mode, the parameter "Mode of operation" has no meaning (refer to section "Mode of

Operation" ).

52

This mode of operation corresponds to the "Device Control Mode = 7" of the fieldbus device profile Fluid
Power Technology.

· Controller mode 9 "Position closed loop"

Control of a 2-solenoid spool valve in closed loop (with feedback signal). It can be activated two solenoids.
In this controller mode, the parameter "Mode of operation" has no meaning (refer to section "Mode of

Operation" ).

52

This mode of operation corresponds to the "Device Control Mode = 9" of the fieldbus device profile Fluid
Power Technology.

Example application: with a 4/3-proportional-spool valve, the axis position is held constant to the command
position value w..

· Controller mode –5 "Pressure control closed loop (2-sol)"

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Operating instructions to Enhanced Controller module SD6

Control of two 1-solenoid throttle valves in closed loop (with feedback signal) as a pressure reducing system.
One throttel valve is the loading valve, the other throttel valve is the unloading valve. The loading valve
corresponds to solenoid driver 1, the unloading valve to the solenoid driver 2.

In this controller mode, the parameter "Mode of operation" has no meaning (refer to section "Mode of

Operation" ).

52

This controller mode is a WANDFLUH specific controller mode and does not correspond to the fieldbus
device profile Fluid Power Technology.

This setting is available only with a SD6-electronics with software version > 1.1.1.6 and PASO with software
version > 1.5.0.9!

· Controller mode –9 "pQ control (2-sol)"

Driving of a direction control valve in open loop control circuit (without feedback signal) with monitoring of a
predefined pressure (with feedback signal).

There is a Q and a p command value. With the Q command value, the cylinder can move in open loop in both
directions. The p command value defines the maximum allowed pressure. If this pressure is exceeded, the
controller reduces the output signal to the valve. In this case the preset pressure is not exceeded. A rear
dodge (cylinder moves backward) is possible. The p feedback value can be either an absolute signal (V or
mA) from a pressure or force sensor or can be built as a differential signal from two pressure or force sensors
(V or mA).

With this controller mode, the choice of the proportional valve has a high influence on the system behavior.
More details about it are available from factory.

Example application: with a 4/3-proportional-spool valve, the axis will move in open loop (without feedback
signal). Simultaneously the pressure is monitored (measured with the pressure sensor).

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Operating instructions to Enhanced Controller module SD6

This setting is available only with a SD6-electronics with software version higher than 1.1.3.0 and PASO with
software version higher than 1.5.1.2!

· Controller mode –10 "Alternating control (2-sol)"

Driving of a direction control valve in closed loop control circuit (with feedback value return) with monitoring of
a predefined pressure (with feedback value return).

There is a pos and a p command value. With the pos command value, the cylinder can move in closed loop
in both directions. The p command value defines the maximum allowed pressure. If this pressure is
exceeded, the position controller is swichted off and the controller reduces the output signal to the valve. In
this case the preset pressure is not exceeded. If the actual pressure is smaller than the p command value,
the position controller is switched on. A rear dodge (cylinder moves backward) is possible. The p feedback
value can be either an absolute signal (V or mA) from a pressure or force sensor or can be built as a
differential signal from two pressure or force sensors (V or mA).

With this controller mode, the choice of the proportional valve has a high influence on the system behavior.
More details about it are available from factory.

Example application: with a 4/3-proportional-spool valve, the axis position is held constant to the command
position value w. Simultaneously the pressure is monitored (measured with the pressure sensor).

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Operating instructions to Enhanced Controller module SD6

This setting is available only with a SD6-electronics with software version higher than 1.1.3.0 and PASO with
software version higher than 1.5.1.2!

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Operating instructions to Enhanced Controller module SD6

0%

...

100% command value

= Imin ... Imax solenoid A

0%

...

50% command value

= Imax ... Imin solenoid B

50%

...

100% command
value

= Imin ... Imax solenoid A

-100%

...

0% command value

= Imax ... Imin solenoid B

0%

...

100% command
value

= Imin ... Imax solenoid A

4.12 Mode of operation

The mode of operation is only of significance in controller mode "Pressure/flow valve open loop", "Position open
loop" and "pQ control (2-sol)". In all other controller modes the mode of operation is not taken into consideration.
The following 4 modes of operation are possible:

· Mode of operation 1 "Command value unipolar (1-solenoid)"

This mode of operation is only selectable with the 1-solenoid version.
With an analogue input (voltage or current) with a 1-solenoid valve the solenoid A is driven.

· Mode of operation 2 "Command value unipolar (2-solenoid)"

This mode of operation is only selectable with the 2-solenoid version.
With an analogue input (voltage or current) with a directional control valve, solenoid A and solenoid B are
driven.

· Mode of operation 3 "Command value bipolar (2-solenoid)"

This mode of operation is only selectable with the 2-solenoid version.
With an analogue input (voltage) of 0 ... ±10V with a directional control valve, solenoid A (positive voltage)
and solenoid B (negative voltage) are driven.

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Operating instructions to Enhanced Controller module SD6

0%

...

100% command
value,

= Imin ... Imax solenoid A

Digital input 2 "high":

0%

...

100% command
value,

= Imin ... Imax solenoid B

· Mode of operation 5 "Command value unipolar (2-solenoid)"

This mode of operation is only selectable with the 2-solenoid version.
With an analogue input (voltage or current) with a directional control valve, depending on the digital input 2,
solenoid A or solenoid B is driven.
Digital input 2 "low":

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Operating instructions to Enhanced Controller module SD6

Top view of box

X1-1 = Digital input1
X1-2 = Digital input 2
X1-3 = Digital output 1
X1-4 = Digital output 2
X1-5 = Supply voltage +
X1-6 = Supply voltage 0 VDC
X1-7 = Stabilised output voltage
X1-8 = Analogue ground
X1-17 = Digital input 3
X1-18 = Digital input 4
X1-19 = Digital input 5
X1-20 = Digital input 6
X1-21 = Digital input 7
X1-22 = Digital input 8
X1-23 = Digital output 3
X1-24 = Digital output 4

Bottom view of box

X1-9 = Analogue input 1 +
X1-10 = Analogue input 1 ­X1-11 = Analogue input 2 +
X1-12 = Analogue input 2 ­X1-13 = Output Solenoid B +
X1-14 = Output Solenoid B ­X1-15 = Output Solenoid A +
X1-16 = Output Solenoid A ­X1-25 = Analogue input 3 +
X1-26 = Analogue input 3 ­X1-27 = Analogue input 4 +
X1-28 = Analogue input 4 ­X1-29 = Digital ground
X1-30 = Analogue ground
X1-31 = Stabilized output voltage
X1-32 = Analogue output

5 Operating and Indicating elements

5.1 General

All inputs and outputs have to be contacted through the terminal screw blocks. On the front panel of the
electronic housing, there is a USB interface, through which the parameterisation and the diagnostics can be
made by using the PC-Parameterisation software PASO DSV/SD6.

5.2 Screw terminator view

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Operating instructions to Enhanced Controller module SD6

5.3 Control elements

5.3.1 General

The front panel of the SD6-Electronics contains the connector to the USB-Interface. Additionally the front panel
is provided with three LED's, which inform the user about the device functioning.

5.3.2 ERROR-LED (red)

The ERROR-LED displays, when an error is detected (refer to section "The system does not work" ).

80

5.3.3 FUNCTION-LED (yellow)

In the controller modes "Pressure/flow valve open loop" and "Position open loop" the FUNCTION-LED is lighting
as soon as a solenoid current is forced (solenoid A and/or solenoid B).

In the controller modes "Pressure/flow valve closed loop", "Speed control closed loop", "Position closed loop"
and "Pressure control closed loop" the FUNCTION-LED is lighting when the target window is reached.

In the controller modes "pQ-control" and "Alternating control" the FUNCTION-LED is lighting depending on the
state of the digital output 2 (refer to section "Configuration_Digital I/O" )

65

5.3.4 SUPPLY-LED (green)

The SUPPLY-LED is lighting, when the SD6-electronics are supplied.

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Operating instructions to Enhanced Controller module SD6

View of the USB-interface:

1

2

3 4

X2-1 = VBUS
X2-2 = D­X2-3 = D+
X2-4 = GND

5.3.5 USB-interface

The USB-interface allows the parameterisation and the analysis of the SD6-electronics by PASO software. The
connection to the PC is realised by standard USB-cables (USB Type A connector PC-side, USB Type B
connector SD6-side).

Connector USB Type B

Hint: The USB-cable is not included.

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6 Commissioning

control extern control intern

6 ... 30V

control intern

max 40V / 0.7A

control extern

Operating instructions to Enhanced Controller module SD6

Please refer to section "Safety rules" .

9

6.1 Connection instructions

The contact assignment of the following description refers to section "Operating and Indicating elements" and
to section "Connection examples" .

28

For an installation / connection appropriate for EMC, the following points absolutely have to be observed:

· Cable length longer than 10m requires shielded cables. The shield of the cable must only be connected with

the earthing on the switchboard side using a large surface area and low Ohm connection.

· The top-hat rail has to be connected with the earthing with an as short as possible conductor with a strand

cross section >= 1.5 mm2.

· Solenoid- and signal cables must not be laid parallel to high voltage cables.

6.1.1 Supply voltage

· For the dimensioning of the power supply, the maximum current demand of the solenoids (in case of

directional control valves only the maximum current demand of 1 solenoid) has to be increased by the no load
current from the SD6-Electronics (refer to section "Electrical specifications" ).

5

· The limit values of the supply voltage and its residual ripple indispensably have to be complied with (refer to

section "Electrical specifications" ).

5

· The SD6-Electronics have to be protected with a slow acting fuse

23

6.1.2 Digital inputs and outputs

· The digital inputs are active-high and not galvanically separated

· For activation, they have to be connected to a voltage between 6 ... 30VDC (e.g. power supply)

· The digital outputs are "Lowside Switch" outputs (open collector)

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6.1.3 Analogue inputs 10-Bit and 16-Bit

· Depending on the card type current and / or voltage inputs with 10-bit ore possibly with 16-bit resolution are
available (rrefer to section "Electrical specifications " and "Analogue inputs ")

· All inputs are differential inputs.

control extern control intern

+

-

voltage
input

large surface
connection

+

-

current
input

large surface
connection

Input signal

Pin configuration screw terminators

Input range

Voltage against ground

10-Bit (example with AnaInp1):
+ at Pin X1-9 / Pin X1-10 at ground

16-Bit (example with AnaInp3):
+ at Pin X1-25 / Pin X1-26 at ground

0 ... +10V
0 ... ±10V

Differential voltage

10-Bit (example with AnaInp1):
+ at Pin X1-9 / - at Pin X1-10

16-Bit (example with AnaInp3):
+ at Pin X1-25 / - at Pin X1-26

0 ... +10V
0 ... ±10V

Current against ground

10-Bit (example with AnaInp2):
+ at Pin X1-11 / Pin X1-12 at ground

16-Bit (example with AnaInp4):
+ at Pin X1-27 / Pin X1-28 at ground

0 ... 20mA
4 ... 20mA

Differential current

10-Bit (example with AnaInp2):
+ at Pin X1-11 / - at Pin X1-12

16-Bit (example with AnaInp4):
+ at Pin X1-27 / - at Pin X1-28

0 ... 20mA
4 ... 20mA

Operating instructions to Enhanced Controller module SD6

5 12

6.1.4 Configuration of the analogue inputs 10-Bit and 16-Bit

The analogue inputs can be configured as follows:

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