MeSeS USER’S MANUAL for SERVO CONTROLLER J143-026-005 MOOG JAPAN LTD. 41-8-37 NishiShindo, Hiratsuka, Japan 254-0019 Tel:+81-463-55-7141 Fax:+81-463-54-4709 CAUTION Disassembly, maintenance or repair, other than in accordance with the instructions herein or other specific written instruction from MOOG will invalidate MOOG's obligations under its warranty, Refer to MOOG warranty for complete provisions thereof.MOOG MOOG TARANTO NOTES TO USERS (1) Description in this manual is subject to change without any obligation on the part of the Manufacturer. (2) Copy of all or part of this manual without any notice is prohibited. (3) Notice would be appreciated if you find any question, lack or error in this manual. SAFETY INSTRUCTION Description in this manual is essential to the safety of life and property, therefore, before operating this equipment, you should first thoroughly read this manual, and this manual should be kept in a place to take it out easily when you have any questions. j\ WARNING This symbol with the word "WARNING" is used to call attention to safety instructions concerning a potential hazard for people. Failure to comply with these safety instructions can result in serious damage to health and can even prove fatal in extreme cases. j\ CAUTION This symbol with the word “CAUTION” is used to call attention to instructions concerning potential damage to the equipment or to the system as a whole. @ note Notes contain useful information to the operator when starting up and operating the equipment or system. hp 49MOOG MOOG JARANTTO TABLE OF CONTENTS 4. Introduction ... 2. Specification... 3. Circuit configuration 4, Electrical wiring . 4-1. Command signal line connecting... 4-2, Feedback signal line connecting 4-3. Connecting to Servovalve 4-4, Monitor output line connecting 5. Adjustment..... 5-1, OSC/DEMO card adjustment. 5-1-1, Potentiometer configuration. 5-2. Servoamplifier adjustment...... 5-2-1. Servoamplifier configuration SYNBRDOHHHHRADR 5-2-2. Cylinder position monitor output adjustment...MOOG MOOGJARANTTO. 4. Introduction The MOOG J143-026-005 Servo controller consists of servoamplifiers, OSC/DEMO cards and a power supply, all of those devices are modularized and mounted on a 19” rack card cage. Integrated servoamplifiers(3 units) and OSC/DEMO cards (3 units) enable individual 3 axes control. The servoamplifier is capable of P (Proportional) control that provides voltage output proportional to difference of command and feedback signals. 2. Specification ‘® Power supply AC110V +/-10%, 50/60Hz 90VA % Environment Ambient temperature : 0 to 45 degC Humidity : 90 RH or less (Non-condensing) %® Control function _P (Proportional Position Control Loop) ® Input signal Current (4 - 20mA) Pin 1 on TB1, FB2-and-EB3~ Pin 3 on TB1, #B2-and-FB3 — Output signal Voltage (+/-10V) output to drive Servovalve. % Monitor signal __Current(4 - 20mA) to indicate oylinder position Pin 9 on TB1, $B2-and-TB3- —- (+) Pin 11 on TB1, FB2-and-F8S-— (-) % Mass Approximately 7 kg 3. Circuit configuration J143-026-005 Servo Controller consists of the following devices. J122-016-003 Servoamplifier 4 unit NF123-204-905 OSC/DEMO card —_{ unit 128-001-002 Power Supply 4 unitMOOG 4. Electrical wiring 4-1. Command signal line connecting Connect command signal lines to Pin 1(+) and 3(-) on TB1,2-and-3: Sielded lines are to be connected to Pin 5. 4-2. Feedback signal line connecting Connect oscillator input signal lines between LVDT primary port and Pin 2(SIGNAL : on TB1,2-and-8) and 4(GND : on TB1,2-and-3). Position sensor outputs are transmitted from LVDT to Pin 6 and 8 on TB1;2-ané-3: Note that input impedance of OSC/DEMO card is 100 kOhm. 4-3. Connecting to Servovalve Refer to the following table and connect the TB1,2 and 3 pins to servovalves. +24Vdc power must be connected to Pin 32 ( + ) and 34 (- ) on TB1,2-and-3 to supply electrical power to servovalves. Shielded lines are connected to Pin 18 on TB1,2-and-3. Controller | Valve Pin No. and Controller_| Valve Pin No. and Pin No. Power Supply Polarity Pin No. Power Supply Polarity _| Pin 14 A Pin 22 E | Pint6 | B Pin2ga | OF | Pints | cil, Pins2 +24Vde POWER [Pin 20 D Pin34 | OVdcPOWER |MOOG MOOG JaraNcro, 4-4. Monitor output line connecting 4-20mA current is output from Pin 9 (+ ) and 11 (-) on TB1,2and-3. Within 50 - 500 Ohm load resistance must be connected to monitor terminals. Connect shielded lines for monitor output to Pin 13 on TB1,2-and-3: NOTE Refer to Block Diagram(C63343) and Customer Wiring Schematic(C 63342), then connect electrical wiring with care for polarity. Also refer to C6342 for cable specification. 5. Adjustment The following steps must be performed prior to adjustment. 1, Refer to Block Diagram(C63343) and Customer Wiring Schematics (C6342) 2. Connect electrical wiring to applicable devices. 3. Verify correct closed-loop control operation. 4. Apply defined system pressure. Adjustment must be made to each axis sequentially. 5-1, OSC/DEMO card adjustment Make the following adjustments on NF 123-204-905 OSC/DEMO card. 1. Oscillator signal fed to LVDT 2. Cylinder position output - ZERO and SPAN. 4, Potentiomotor configuration The following potentiometer configurations are common to Axis 1(=CH1), 2 and 3. Those potentiometers are factory adjusted but the following information may be useful in site. a) P1: Oscillator frequency adjustment Turn CW to increase frequency and CCW to decrease. Adjustable range is from 200 to 2500 HzMOOG MOOG TARANTO b) P2: Oscillator amplitude adjustment Tur CW to increase amplitude and CCW to decrease. Adjustable range is from 4.5 to 22 Vp-p. ©) P3 : Cylinder SPAN adjustment Tum CW to increase applicable cylinder stroke and CCW to decrease. Adjustable range is from, to 2 amplification of demodulator gain. 0.25 4d) Pd : Cylinder ZERO adjustment Tum CW for cylinder exiruact position offset and CCW for retract position offset. Adjustable range is from -3 to +3 V at Vout11 monitor. Adjustment to P3 and P4 potentiometers must be made to produce 0 to 100% of appricable cylinder stroke corresponding to -2 to +2V of Voutt1 monitor output. 5-2. Servoamplifier adjustment Make the following adjustments on the servoamplifier. 1, Loop-Gain to effect cylinder response 2. Cylinder position offset value 3. Cylinder position monitor output signal 5-2-1, Servoamplifier configuration The following potentiometer configurations are common to Axis 1,2 and 3. a) P1_: Command signal adjustment Turn CW for plus(+) offset and CCW for minus(-). Adjust the P1 for 4-20mA current input corresponding to +2 to -2V monitor output, (Factory adjusted.) Note that commend (= input) signal can be monitored at Pin 27(position command monitor terminal) on TB1 or 2. b) P2: Loop-Gain adjustment Tum CW to increase Loop-Gain and CCW to decrease.MOOG MOOG TARANTO. c) P3 : Offset value adjustment Turn CW for cylinder extract position offset and CCW for retract position. 4) P4 : Control selection Turn CW to select closed-loop control and CCW for open-loop. Note that the P4 must be kept at factory adjusted(fully CW) position. 5-2-2. Cylinder position monitor output adjustment. The following potentiometer configurations are also common to Axis 1, 2 and 3. The P6 and P7 are factory adjusted that 4-20 output current corresponds to +/-2V Vout11 (on OSC/DEMO card) monitor output. a) P6 : Output current offset Turn CW to produce output current plus(+) offset, CCW for minus(-) offset. b) PZ: Output amplitude adjustment ‘Turn CW to increase amplitude and CCW to decrease. NOTE If P3 and P4 on OSC/DEMO card are adjuted, P6 and P7 on servoamplifier must be re-adjusted.Installation and Operating Instructions Proportional Valves D681 / D682 / D683 / D684 Series 1. Filtration, Hydrauli¢ Systems with Proportional Valves Filter: High pressure filter without by-pass but with electric dit alarm, located in the main line close to the valve. With variable displacement pumps offine tration is recommended. Fluid: Mineral oil based hydraulic fluid to DIN 51524, parts 1 10'3. Other fluids on request. ‘Visoosity: 5 to 400 mms, recommended 15 to 100 mms. ‘Temperature range: ambient -20 to +60°C, fluid -20 to 480°C. Class of cleanliness: According to ISO 4406:1999, at least class 18/15/12, for longer life class 17/14/11 recommended. Filter rating: recommended 8, > 75 (6 um absolute), allowed 8,, > 75 (10 jum absolute). Flushing instruction: Use of flushing blocks, flushing valves according to instructions of the machine manufacturer. 2. Valve Installation Compare model number and type with that specified on hydraulic schematic. The valve can be mounted in any position, fixed or movable. Check mounting surface for flatness (within 0.01 mm over 100 mm) and finish (Ra < 0.8 um) . Care must be taken to ensure that contamination does not enter the hydraulic system, all work areas must be clean of surface or alr-bone contamination. Only remove shipping plate just before instaling the valve and keep it available for ater use (7). Mounting: Socket head screws to DIN EN ISO 4762, ‘grade 10.9, torque from inside to outside (not with D681) diagonally altemating. forquie: tolerance + 10 iSeries | Pattemto| Socket Pcs. Torque 1S0 4401 | head screw [Nm DIN EN ISO 4762-109 pes1 | 05-05-0-04] mex4o [4 | 13 D682 | 07-06-0-94} Mtox6o | 4] 65 Mexes | 2] 13 Dess/es4| 08-07-0-04] 12x75 | 6 | 110 685 | 10-08-0-94 20.00 | 6 | 520-60 MOOG 3. Pilot Mode, Pilot Pressure and Operating Pressure Pilot mode: The valve pilot supply is user configurable it fore importantto check that the porting of the unit matches that of the machine. Refer to the hydraulic schematic on the valve name-plate for valve ‘configuration. For conversion, follow the instructions within the Moog catalogue D680 or the valve installation drawing, Pressure: For maximum pilot and operating pressures (P,,0,) See nameplate. 4 Electric Connection Rated signal: See nameplate. Valve phasing: Signal (D - E) positive, valve opening PHA Connector wiring: See wiring schematic tag attached to electronics housing, or refer to Moog catalogue D680 or installation drawing Valve cable: Signal lines shielded, shielding connected atboth ends (toimprove EMC), i. toconnectorshelland to contro! cabinet housing. Connect protective earth lead. See also Moog Application Note TN 353, 5. Hydraulic System Start Up Follow operation instructions given by the machine manufacturer Pay attention to pressure setting, venting instructions, fail-safe functions and alarm messages! 6. Null-Adjustment Remove cover plug from electronics housing to access ‘ul adjust potentiometer. Tuming the pot shaft results in ‘a spool position change. Output signal for actual spool Position will also change. Turing cw wil increase valve opening P # A. After adjustment refit cover plug. CAUTION: Observe instructions of the machine manufacturer. 7. Returning the Valve for Repair ‘When retuming a defective valve to the factory it is important to ensure that contamination does not enter the valve ports. Ideally, re-use the original shipping plato ‘supplied with the valve or apply adhesive tape. Package the valve carefully to prevent further damage during transportation. Moog Controls Lid., Ashchurch, Tewkesbury, Gloucestershire GL20 8NA, England Telephone (01684) 29 66 00 , Telefax (01684) 29 67 60, ‘MIM D680En-8.02 ‘897072 680Installation and Operating Instructions Servo Valves D633 and D634 Series 1. Filtration, Hydraulic Systems with Servo Valves iter: High pressure fiter without by-pass but with ‘electric dirt alarm, located in the main line close to the valve. With variable displacement pumps off-ine fitration is recommended. Fluid: Mineral oil based hydraulic fluid to DIN 51524, parts 1 to 3 (!SO 11158). Other fluids on request. Viscosity: 5 to 400 mm/s, recommended 15 to 100 mrs. ‘Temperature range: ambient -20 to +60°C, fluid -20 to +80°C. Class of cleanliness: According to ISO 4406:1999, at least class 18/15/12, for longer life class 17/14/11 recommended. Filter rating: recommended 8, > 75 (6 im absolute), allowed 8,, > 75 (10 um absolute). Flushing instruction: Use of flushing blocks, flushing valves according to instructions of the machine manufacturer. 2. Valve Installation ‘Compare model number and type with that specified on hydraulic schematic. The valve can be mounted in any position, fixed or movable. Check mounting surface for flatness (within 0.01 mm over 100 mm) and finish (Ra <0.8 pm). Caremustbe taken toensure thatcontamination does not enter the hydraulic system, all work areas must be clean of surface or air-borne contamination. Only remove shipping plate just before installing the valve and keep it available for ater use (7). Mounting: Socket head screws to DIN EN ISO 4762, grade 10.9, torque diagonally altemating. [Series] Pattemto | Socket | Pes. | Torque 180 4401 [head screw [Nm] DIN EN ISO 4762-10.9 bess | 03-03-0-04 | Msxss | 4 | 68 D634 | 05-05-0-94 | Mexeo | 4 | 11 MOOG 3. Operating Pressure For maximum operation pressuire (p,) see nameplate. 4. Electric Connection Rated signal: See nameplate. Valve phasing: Signal (D) positive, valve opening P # A. Connector wiring: See wiring schematictag attached to electronics housing, in catalogue D633/634 orinstallation drawing. Valve cable: Signal lines shielded, shielding connected atboth ends (to improve EMC), ie. to connector shell and tocontrol cabinet housing. Connectprotective earthlead. See also Moog Application Note TN 353 .. 5. Hydraulic System Start Up Follow operation instructions given by the machine manufacturer. Pay attention to pressure setting, venting instructions and alarm messages! 6. Null-Adjustment Remove cover plug from electronics housing to access null adjust potentiometer. Tuming the potentiometer shaftresults ina spool position change. The signal output {or actual spool position will also change. Tuming cw will increase valve opening P » A. After adjustment refit ‘cover plu CAUTION: Observe instructions of the machine manufacturer. 7. Returning the Valve for Repair When retuming a defective valve to the factory it is importantto ensure that contamination does notenter the valve ports. Ideally, re-use the original shipping plate supplied with the valve or apply adhesive tape. Package the valve carefully to prevent further damage during transportation. 8. Replacing the O rings Orings of the assembly surfaces (also of pilot and fail- safe valves) may be replaced by the customer. Pay attention to cleanliness of the surroundings and of the valve. Moog Controls Ltd., Ashchurch, Tewkesbury, Gloucestershire GL20 8NA, England Telephone (01684) 29 66 00 , Telefax (01684) 29 67 60 MIM D639/0634-EN-Rev, 4.03.03 Bo7072 633INSTALLATION ==] ‘SERVOVALVE casrieAttachment-1 moc 21994, Applicable for STG BE" 1-Feb-2012 ‘ ! 2 J STG-B servo valve model ® Mod: D633-7145 |Type: AOSKA4FOHBY IS/N: D757 MoD: Je8264003 ISER:vo10g 3011 %. a on ~>2s)tial « — a r Of e 9 _|jo |] fp - 4 fo 4 Oo | Qi lo a lo - 94 @ dos ose7ssueonees, CUSTOMER WIRING SERVOCONTROLLEa2 = ae = AC 100¥ lar-2 = BLOCK DIAGRAM SERVOCONTROLLER | 343-026-006 SERVOCONTROLLER MODEL J143-026-006 MOOG] Bau vanae T T T 7 ;