Analog Control Electronics for RE 30138/12.

05
Replaces: 08.98
1/8

Closed Loop Speed Controls

Typ VT-PVNR-1

Series 1X

H5484_d

Table of contents Features

Contents Page The analog control electronics PVNR-1 are used for the closed
Features 1 loop speed control of electro-hydraulic rotary drives
Ordering code 2 – Digitally adjustable P-controller
Technical Data 2 – Switchable integrator
Functional description 3 – Command value injection
System arrangement: PLC, valve and hydraulic axis 3 – Open/closed loop control modes
Position of adjustment and indicator elements 4 – Settable message “Speed reached”
Block circuit diagram / pin allocation PVNR-1 5 – Command value ramp generator
Auxiliary electronics VT-PVNR-1-1X/DX (plug-in card) 6 – Analog ±10 V or incremental (TTL or HTL) actual speed value
acquisition
Control electronics PVE1, VTS 0021 (plug-in card) 7
– Cable break monitoring for incremental rotary encoders
Projecting notes / maintenance notes / supplementary information 8
– Plug-in amplifier card for the control of proportional directional
Unit dimensions 8
valve types 4WRE 6 or 4WRE 10 (series 1X)

Further information:
– Commissioning instruction for VT-PVNR1, see RE 30138-B
Card holder:
– Type VT 3002-2X/48, see RE 29928 Plug-in card holder
without power pack
Power pack:
– Type VT-NE30-1X, see RE 29929
Power pack 115/230 VAC → +25 VDC, 60 W (smoothed) and
+24 VDC, 25 W (regulated)
2/8 Bosch Rexroth AG Hydraulics VT-PVNR-1 RE 30138/12.05

Ordering code

VT-PVNR-1 1X *

Analog control electronics PVNR-1 Further details in clear text

Series 10 to 19 = 1X 0= For analog rotary encoders ±10 V
(10 to 19: Technical data and pin allocation unchanged) 1= For incremental rotary encoders
0= Without valve amplifier
1= With amplifier for valve type 4WRE 6..-1X
2= With amplifier for valve type 4WRE 10..-1X

Technical Data (For applications outside these parameters, please consult us!)

Operating voltage UB 24 VDC

Functional range
– Upper limiting value uB(t)max 35 V
– Lower limiting value uB(t)min 18 V
Max. power consumption P 50 W
Input
– Differential input for command value (actual value) Ue 0 to +10 V (Re = 50 kΩ)
or Ue ±10 V (Re = 50 kΩ)
– Switching input PLC (active) U > 12 V (Re > 5 kΩ)
– Switching input PLC (not active) U <6V
Regulated voltages U ±15 V ±5 %; 40 mA externally loadable
U +24 V ±5 %; 100 mA externally loadable
Voltage for switching inputs/outputs UPLC +24 V ±20 %
Output signals
– Valve command value U ±10 V; 10 mA externally loadable
– Actual speed value U ±10 V; 10 mA externally loadable
– Switching outputs PLC (active) U UPLC – 2 V; 10 mA externally loadable, short-circuit proof
– Switching outputs PLC (not active) U <1V
Incremental rotary encoder max. input frequency 75 kHz
min. input frequency 3.25 kHz (for actual speed value ±10 V)
TTL (+5 V) or HTL (+21 V)
Type of connection 48-pin blade connector, DIN 41612, form F
Card dimensions Euro-card 100 x 160 mm, DIN 41494
Front panel dimensions
– Height 3 HE (128.4 mm)
– Width solder side 1 TE (5.08 mm)
– Width component side 7 TE
Ambient temperature range ϑ 0 to 50 °C
Storage temperature range ϑ –20 to +70 °C
Weight m 0.3 kg
RE 30138/12.05 VT-PVNR-1 Hydraulics Bosch Rexroth AG 3/8

Functional description
The closed loop control electronics PVNR-1 can be used to The following can be adjusted on the front panel:
run electro-hydraulic rotary drives either in the open or closed Offset actual value: Zero point adjustment of the speed
loop control mode. The operating modes „open loop control“ commmand value
or „closed loop control“ are fed forward via a PLC-compatib-
le input. Via differential input [2], and optionally via a time ramp Offset nominal value: Zero point adjustment of the actual
[6], the analog command value for the closed loop speed con- speed value
trol circuit, and via the differential input [1] the actual value, is
fed to the P-controller [3] and the I-component [5]. The actu- Ramp slope for increasing and decreasing command
al value can be added to the output signal of the PI-controller values by means of rotary switches
using a derivative unit [4]. In addition, it is possible to apply the
command value to the output of the PID-controller [9]. All the PL Adjustment of the P-component for the controller
controller parameters can be set by means of rotary switches using rotary switches (fine adjustment)
at the front. For valves with positive overlap a step function ge-
nerator [7] can be used to compensate for the overlap. PH Adjustment of the P-component for the controller
using rotary switches (rough adjustment)
The output signal of the PVNR-1 is fed to the optional plug-in
card PVE1 for the control of valves. Moreover, a 20z connec-
I Adjustment of the I-component for the controller
tion is available for valves with integral electronics.
using rotary switches
A further, optional plug-in board converts digital-incremental
signals from rotary pulse encoders into an analog, normalized D Adjustment of the D-component for the controller
voltage for the closed loop control. using rotary switches
If the deviation of the actual speed value from the speed com-
mand value is smaller than a settable threshold [8], this is sig- The following can be adjusted on the electronic card:
nalled by an LED on the front panel and by a PLC output S1.1 and S1.2 Command value application
(connection 14d). (33 %; 66 %; 100 %)
The following measuring sockets are available at the front panel: S1.3 Firm setting "on"
Measuring socket 1: Actual speed value (nominal value drive speed) S1.4 and S1.5 Threshold for "Speed reached"
Measuring socket 2: Actual speed value (actual value drive speed) (50 mV to 500 mV)
Measuring socket 3: Valve command value (nominal value valve) S1.6 to S1.9 Actual speed value gain (1 to 2)
Measuring socket 4: Actual valve value (actual value valve)
Measuring socket 5: Integrator For valves with positive overlap a command value jump can be
Measuring socket ⊥: Measuring zero set in dependence upon the direction using potentiometers
The following is signalled by LEDs on the front panel: R200 and R201 to compensate for the spool overlap.
LED "ol" (yellow): Operating mode "OPEN LOOP CONTROL"
LED "cl" (yellow): Operating mode "CLOSED LOOP CONTROL" [ ] = Reference in the block circuit diagram
LED "en" (green): Enable of PVNR-1
LED " " (yellow): Speed reached

System arrangement: PLC, valve and hydraulic axis

Actual speed value: analog ±10 V or incremental

Rotary encoder
analog / PVNR-1 Actual valve value analog /
incremental
f/U- incremental
converter Output stage
n
(optional) PID- u
controller ±10 V
Speed command Comm. value Motor
(optional)
value ±10 V generation

A D A B
Enable integrator
a b
Enable valve command value
Open/closed loop control P T
I/O
PLC +24 V Speed reached =24 V
Speed controller active =24 V
Cable break =0 V
 4/8

Rexroth
Jump
R200 R201
KB BEG P IST
Bosch Rexroth AG

Neg Pos I S ERR GAIN S1 X5 X6 X7 X8 IST SOLL S2

Strom
R202 ON ON
IST

1 2 3 4 5 6 7 8 9 1 2
ol Offset actual value
Hydraulics

cl Offset nominal value

R203 VTS 0021
en SOLL

F012

CDE
34 5 6

B
78
9A

F012

CDE
34 5 6

B
9A
78 PL
F012
Position of adjustment and indicator elements

CDE
34 5 6

B
78 PH
9A

F012

CDE
34 5 6

B
9A
78 I Plug-in card PVE1

X4
X3

F012 Plug-in card (option)

CDE
34 5 6

B
9A
78 D VT-PVNR-1-1X/DX
1 2 1 nominal value drive speed (option)
2 actual value drive speed
3 4 3 nominal value valve
4 actual value valve X2
1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9
5 ⊥ 5 Integrator 1 9
ol open loop
cl closed loop

9
10
11
12
en enable

PVNR-1
VT-PVNR-1
RE 30138/12.05
 F
X1 2 X1
F
offset 8z
actuel value Actual speed value (test output)
10z
Actual speed value 2b 1 S1.6 - 1.9 16 D 16 F UA2
12z
(±10 V) u
4 UA2 Rotary pulse encoder
10b
UA1 (input)
RE 30138/12.05

u 12b
– 2,5 V + 2,5 V UA1
4b F 8b
1 S1.1/2 4
Reference potential 9 ⊥ –15 V+15 V Actual speed value ±10 V (output)
6b X2 1 2 3 4 5 6 7 8 9
Shield
7 11
P 16
L
offset F F
P 16
VT-PVNR-1

Speed command value 14z 2 16 nomin. value H 14b

+15V/max.40mA
(±10 V) – 3 16b Supply voltages for
u –15 V/max.40mA
Enable valve 20b
u + comm. value +24V/max.100mA rotary pulse encoder
18b
16z F GND
Reference potential 6 + # 3
∑
+
20z Valve comm. value
18z (±10 V / 10 mA)
Shield I 16 F F F
5 22z
4 Reference potential
2z 24z
n.c. 5 Valve enable Connec-
Integrator Enable valve tions for
n.c. 4z comm. value
30z + 24 V
⊥ –15V +15V 32z
0V
valves with
2d integral
1 2 3 4 5 6 7 8 9 electronics
Block circuit diagram / pin allocation PVNR-1

X4 Valve enable
VTS 0021 10 26z
F
X3 1 2 3 4 5 6 7 8 9 28z
6 Shield
30db + 15 V ⊥ +24V
+ 24 V =
GND 24d –
32db Connec-
GND = 22d + Solenoid A
– 15 V tions for
F 22b
cl 1 Position proporti-
24b
26b
2 measu- onal valve
⊥ ring
6d 28b System type 4WRE
Enable integrator + 15 V Shield (series 1X)
28d
Enable integrator –
26d
Enable valve 4d S1.4/5 4 + Solenoid B
75 mV – 500 mV
command value Enable valve 20d
Speed reached & +24 V (PLC)
Open/closed loop 8d comm. value
F Imax = 15 mA 14d
Open/closed loop F
control en Speed reached
control 8
F Imax = 15 mA 12d
18d ol Speed controller active
GND (PLC) Cable break
Imax = 15 mA 16d Message cable break (0 V = fault)
position measuring system/rotary
1, 2 Differential amplifier
pulse enconder
Hydraulics Bosch Rexroth AG

3 P-controller 6 Ramp generator 9 Command value injection

4 D-component 7 Step function generator 10 Output stage electronics PVE1
5 I-component 8 Threshold logic 11 Auxiliary electronics VT-PVNR-1-1X/DX
5/8
6/8 Bosch Rexroth AG Hydraulics VT-PVNR-1 RE 30138/12.05

Auxiliary electronics VT-PVNR-1-1X/DX (plug-in card)

Block circuit diagram

X2

Enable valve 10
comm. value
1

Cable break monitoring

ON / OFF 9 Cable break
J2 monitoring

1 23 6
TTL HTL
J3 S1/2 – S1/5

4 bit

UA2
1 2
2 UA1 1 J1
UA2 1:1 f Actual
3 2 4 5
UA1 1:2 speed
4 UA2 3
UA1 1:4 U value
4
1
=1

6 – +
GND
S1/1
7 Supply
– 15 V 3
8 voltage
+ 15 V
5

1 Line driver
2 Signal evaluation
3 Detection of direction
4 Frequency/voltage converter
5 Sign selection for actual speed value
6 Cable break monitoring

Functional description

The auxiliary electronics VT-PVNR-1-1X/DX convert incre-

mental signals (TTL or HTL, can be changed over using J3)
from the rotary pulse encoders into an analog voltage. The si-
gnals are fed via the line driver [1] to the signal evaluation [2]
which offers the possibility of single, double or quadruple eva-
luation. The resulting pulse frequency is subsequently conver-
ted into an analog voltage [4]. A direction detection [3] cont-
rols the polarity of the analog signal which can be adapted to
the individual application by means of the sign selection [5]. All
the four signal inputs (UA1, UA1, UA2, UA2) are monitored for
cable break [6].

[ ] = Reference in the block circuit diagram

RE 30138/12.05 VT-PVNR-1 Hydraulics Bosch Rexroth AG 7/8

Control electronics PVE1, VTS 0021 (plug-in card)

Block circuit diagram

X4 X3
8 8
+ 15 V GND
7 9
– 15 V 24 V
6
⊥
1
u
i 2
b
Command 1 4WRE 6
value + PID 7 or
3
4WRE 10
1 2 6 a
u
3 i 7
Comm. value u
4 i
optional

& 4
Enable comm. 9
value
5
Cable break
6
3

Actual valve 2 = 5 1 8
value ≈
4 2
5

1 Analog switch 5 Oscillator/demodulator

2 PID-controller 6 Cable break detection
3 Output stage 7 Proportional directional valve
4 Enable logic 8 Position transducer

Functional description

The auxiliary electronics PVE1 allow to control directly con- inductive position transducer [8].
trolled proportional directional valves type 4WRE 6 ..-1X or In the case of a fault or if the command value enable is not ap-
4WRE 10 ..-1X (see ordering code). plied, solenoids "a" and "b" are de-energized.
The plug-in card basically offers the following function
modules:
[ ] = Reference in the block circuit diagram
– Self-pulsing output stages
– Oscillator and demodulator for inductive position
On the auxiliary card no adjustments or settings are
measurement of the valve spool
required!
– PID-controller
– Cable break detection of the position transducer cable
– Enable logic

The command value is fed to the PID valve controller [2] via
the analog switch [1]. The oscillator/demodulator [5] is used
to determine the actual value, which is proportional to the val-
ve spool position. The controller is optimized for valve types
4WRE 6 or 4WRE 10 and controls the self-pulsing valve out-
put stage [3] in dependence upon the command/actual value
difference.
The cable break detection [6] monitors the connection to the
8/8 Bosch Rexroth AG Hydraulics VT-PVNR-1 RE 30138/12.05

Projecting notes / maintenance notes / supplementary information

– The card may only be plugged in or unplugged when switched off!
– Only take measurements using instruments Ri > 100 kΩ which are set to DC voltage!
– Command values may only be switched using contacts which are suitable for currents < 1 mA !
– Always shield command and actual value cables; leave the shield on one end open and connect the other end to the card side
using the terminals provided for this purpose or to the 0 V operating voltage !
Recommendation: Also shield solenoid cables (one end to 0 V operating voltage)!
For lengths up to 50 m use cable type LiYCY 1.5 mm2, for greater lengths please consult us !
– The distance to aerial lines or radio sources must be at least 1 m !
– Do not lay solenoid and signal lines near power cables !
– Do not use free-wheeling diodes in the solenoid cables !
– Please note: When using the power supply unit VT-NE30 with a mains voltage of > 240 VAC at
a low current consumption, the input voltage range of the PVNR-1 can be exceeded.
Attetion! When using the differential input, both inputs must be switched on or off
simultaneously!

Note! Electrical signals generated via control electronics (e.g. actual value) must not be used for
switching safety-relevant machine functions!
(see also the European standard "Safety requirements for fluid power
systems and components - Hydraulics", EN 982)

The commissioning of the PVNR-1 control electronics is comprehensively described in the brochure RE 30138-B
(separate order)!

Unit dimensions (Dimensions in mm)

Rexroth

ol Offset actual value

cl Offset nominal value
en
F012
C DE

34 5 6

78
B

9A
3HE (128,4)

F012
C DE

PL
34 5 6

78
B

9A

F012
100
89

PH
C DE

34 5 6

78
B

9A

F012

I
C DE

34 5 6

78
B

9A

F012

D
C DE

34 5 6

78
B

9A

1 2 1 nom. value drive speed

2 act. value drive speed
3 4 3 nominal value valve
4 actual value valve
5 5 Integrator
ol open loop
8,5

cl closed loop
en enable

PVNR-1

8TE (40,3) 2
10 165
184

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Hydraulics information set forth in it, are the exclusive property of Bosch Rexroth
Zum Eisengießer 1 AG. Without their consent it may not be reproduced or given to third
97816 Lohr am Main, Germany parties.
Telefon +49 (0) 93 52 / 18-0 The data specified above only serve to describe the product. No
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