SPECIFICATIONS

Proportional Gain: Frequency Response:

NF122-202A1Series
5 to 200 mA/V
Integral Gain:
-3 dB ≥ 800 Hz (1 Henry load)
Linearity:
Servoamplifier
16 to 3,000 mA/V-sec ± 3% full scale
Derivative Gain: Dither:
0.02 to 8 mA-sec/V 25 to 300 Hz, 0 to 20 mA p-p
Current Output: Relay:
to ± 50 mADC into 130 Ω coil contacts: ≤ 2 A/24 VDC/SPDT
Voltage Output: consumption: 15mA from +24 VDC line
to ± 10 VDC nominal Coil:
Input Levels: 18 VDC max pick-up @ 20°C
to ± 15 VDC on terminals 3 and 7 2 VDC min drop-up @ 20°C
to ± 120 VDC on terminal 9 Connector:
Drift: DIN 41612 style C
≤ 0.1 mV/°C from 10°C to 50°C Form Factor:
(with 100K Ω inputs and Eurocard 100 X 160 mm, 7 HP, 3 U
proportional gain at 50 mA/V) Weight:
Temperature Range: 0.36 lb (0.16 kg)
10°C to 50°C (50˚F to 120˚F)

The NF122-202A1 servoamplifier is designed to drive servovalves or

proportional valves in closed-loop servosystems. It provides any combination
of proportional, integral, and derivative control (PID). It may also be used as a
simple voltage-to-current converter to drive servovalves.
The NF122-202A1 Servoamplifier is a forward compatible replacement
for the F122-202A001.

ADJUSTMENTS
P1 Bias: Changes bias voltage at
input (summing) stage. Turn CW for
positive input bias voltage.Adjust for
offset between command and
feedback.
P2 Gain: Changes proportional
gain of input (summing) stage. Also
changes integral and/or derivative
gains if jumpers I or D are on.
Turn CW to increase gain.Adjust for
system stability.
P3 Dither Frequency: Turn CW
to increase frequency.Adjust for a
frequency appropriate for system
dynamics.
P4 Dither Amplitude: Turn CW to
increase amplitude. Adjust for
desired dither current amplitude,
typically ±10% of rated current.
Note: jumper DITHER must be on.
P5 Integral Gain: Changes integral
gain if jumper I is on.Turn CW to
increase gain. Adjust for system
stability.
P6 Filter Frequency: Changes
corner frequency of low-pass filter
on differentiator. Turn CW to
increase frequency. Adjust to reduce
excessive noise.
P7 Trim: Changes authority of
signal on terminal 7. Turn CW to
reduce authority. Adjust to provide
scaling of input at terminal 7.
P8 Derivative Gain: Changes
derivative gain if jumper D is on.
Turn CW to decrease gain.Adjust
to add phase lead.
P9 Scale: Changes authority of
signal on terminal 9. Turn CW to
reduce authority. Adjust to provide
scaling of input at terminal 9.
FEATURES
PID Control
Jumper-selectable proportional, integral, and derivative control
Independent integral and derivative gain adjustments
Adjustable low-pass filter on derivative control
Easily-accessible integrator reset function
Error-Summing Input Stage
Three standard inputs can be reconfigured for differential input
Independent gain, bias, trim, and scale potentiometers
Summed error easily accessible for monitoring
Front-Panel Adjustments
Provide quick access to gains, scales, bias, and dither
Front-Panel Test Points
Allow for fast & easy setup, test, & monitoring of parameters
Dither Generator
Jumper-selectable with adjustable frequency and amplitude
Current or Voltage Drive
Jumper-selectable with overcurrent protection
SPDT Relay Section
Energized by high (5 to 15 VDC) or low (0 VDC) logic signal
Used for integrator reset, signal switching, or other functions
 NF122-202A1 SERVOAMPLIFIER SCHEMATIC

P6A P8A
Z3 C4 R16 R17
ERROR MONITORING 12
CW P6 1K 10K CW P8
+15V 100K 0.33 µF
Z1 100K
FEEDBACK INPUT 11
3
+ 8 CURRENT OR VOLTAGE DRIVE
TO ± 15 VDC A2A 1 C5
Z2 2 TL082
- 4
10 + 100pF
-15V GAIN D
R5 A1C 8 2 3
V IN3 22.1K P2 TL084 R21
9 R27
R6 100K CW -
1 100K 100K
R1 C6 SEE
100K R26
FEEDBACK INPUT
TO ± 15 VDC
3
100K R7
PID CONTROL +24V
NOTE 2
V IN7 100K
2.21K 100pF
TRIM ADJ
5 +
P R29
R2 7 2 3 10Ω
7 A1B C7 Current
COMMAND INPUT R11 6 -TL084 R19

Voltage
TO ± 15 VDC P7 49.9K
100K CW SUMMING 100K R12
1 100K 100pF
V R9
FEEDBACK INPUT 9 AMPLIFIER
TO ± 120 VDC 100K
P9 R3 GAIN Q1
SEE NOTE 4 5 +
100K 47:1 RATIO +15V R23 TIP29
CW 100K A2B 7 2 I 3 47.5 Ω
P5A R13
10K TL082 R20 2 - A1A 4 R24 R32
SCALE ADJ R4 6 1
2.21M - TL084 13
BIAS ADJ CW P5 1 3
100K + 11 100 Ω 49.9 Ω
CW 500K
D1 D2 R25
-15V REF +15V REF
-15V 47.5 Ω
P1 100K R22
R14 9.1V 9.1V 1N5239B 10K Q2
INTEGRATOR RESET 10 TIP30
100 Ω C8
C3 2.0 µF
INTEGRATOR RESET 8
SERVO
+24V 100pF VALVE
N.C. RELAY CONTACT 6 DITHER R30
COIL
K1 D4
N.O. RELAY CONTACT 5 1 R9 10 Ω
14 1N4148 DITHER
6 49.9K OFF
2 3
4 8 R8 12 + -24V
COMMON RELAY ON I SV
D3 C2 1
CONTACT
RELAY 20K A1D
TL084
14
CW SEE
13 P4 R18 R28
RELAY TRIGGER 2 - 1 µF NOTE 3
15
SEE NOTE 1
R33 C1 100K 301K 10K
Q3 0.33 µF R10 CW P3
RELAY TRIGGER 1 2N2222 D5 D6
SEE NOTE 1 10K DITHER AMPL
1N4148 1N4148 R31
R34 8.2K 100K 20 Ω
4.75K FREQUENCY

INNER LOOP INPUT 19 Z4

29 +15V REF
SERVOVALVE CURRENT AND +24V 20
25 mA MAX
28 +15V POWER INPUTS ADDITIONAL 15 mA, IF RELAY IS USED +
+ + 10 µF C13 10 µF
10 µF C9 C11 40V
35V 35V
24
22
SIGNAL COMMON POWER COMMON
10 µF + + 10 µF +
C10 C12
35V 35V C14 10 µF
30 -15V 40V
25 mA MAX SERVOVALVE CURRENT -24V 26
31 -15V REF

NOTES:
NOTE 1: TO ENERGIZE RELAY, CONNECT TERMINAL 2 TO TERMINAL 24 OR CONNECT +5 TO +15 VDC TO TERMINAL 1. NOTE 6: INDICATES COMPONENT STANDOFFS.
NOTE 2: PLACE I/U JUMPER IN 1 POSITION FOR CURRENT DRIVE. PLACE I/U JUMPER IN V POSITION FOR VOLTAGE DRIVE. NOTE 7: TYPICAL JUMPER CONFIGURATIONS
NOTE 3: VOLTAGE AT TEST POINT “ISV” REPRESENTS CURRENT THROUGH VALVE COILS WITH A SCALE FACTOR OF OFF I
50 mA/VOLT. ON V
NOTE 4: VOLTAGE AT TEST POINT “VR9” MUST NOT EXCEED ± 15 VDC.
NOTE 5: ■ = PIN 1 (SQUARE PIN). NOTE 8: GAIN POT (P2) PROVIDES 47:1 ADJUSTMENT

TYPICAL APPLICATIONS

NF127-101 RACK CARD CAGE VOLTAGE-TO-CURRENT NF127-101 RACK CARD CAGE

PROPORTIONAL LOOPS:
Model NF122-202 7 command signal CONVERTER: Model NF122-202 7 command signal
(current drive)
I 3 feedback signal I 13 to servovalve coils
position, pressure, force, U 13 to servovalve coils U 15 to servovalve coils
and torque control 15 to servovalve coils key:
key: to drive servovalve when loop is off
DITHER P I D off closed with a digital controller DITHER P I D
on
on

INTEGRAL LOOPS: NF127-101 RACK CARD CAGE VOLTAGE DRIVER FOR NF127-101 RACK CARD CAGE
Model NF122-202 7 command signal PROPORTIONAL VALVES: Model NF122-202 7 command signal
(current drive) 3 or 9 feedback signal 3 feedback signal
I I
velocity and flow control 13 to servovalve coils 13 to valve input
U U
15 to servovalve coils position, pressure, force, 22 to valve common
key: 8 to 4 key:
DITHER P I D off
and torque control DITHER P I D off
10 to 6 *
on
on

2
24
* switch not supplied. open switch to reset integrator

The products described herein are subject to change at any time without notice, including, but not limited to, product features, specifications, and designs.
CLOSED-LOOP POSITION CONTROL (3-STAGE VALVE)

Three-Stage servovalves are used (Power supplied by common power Suggested Setup Procedure:
bus in the 19 inch rack.)
in applications where high flow is (Reference Moog Documents NF122-202A1 & NF123-204A1)
required. The following examples 1. Turn off hydraulic power and relieve pressure.
illustrate the use of an Exciter/ 2. Set the GAIN pot (P2) on the NF122-202A1 card
Demodulator card to configure approximately five turns from full counter-clockwise.
the three-stage servovalve LVDT 3. Set the SCALE pot (P9) on the NF122-202A1 full
for inner loop servo control. clockwise.
4. Select resistor valve for position Z4 to give proper
The DC voltage from the inner loop gain of three-stage valve.
Exciter/Demodulator is propor- 5. Apply electrical power.
tional to the position of the 6. On the NF122-202A1 card, temporarily remove
servovalve third-stage spool. The the feedback connection from terminals [3] and [19].
DC voltage, the servoamplifier, and Adjust the BIAS pot (P2) for zero coil current with
the signal from a position feedback pin 9 grounded. Re-connect terminal [3]. Set the
transducer create a position servo scale pot (P9) on the NF122-202A1 full counter-
controller. The inner loop gain can clockwise.
be adjusted independent of the 7. Apply hydraulic pressure.
outer loop gain. 8. Adjust the NF123-204A1 Exciter/Demodulator
card for proper demodulator GAIN (P3) by
monitoring the voltage at terminal [11]. Adjust the
Eurocard Example
N123-204A1 output BIAS pot (P4) for zero volts
with the valve at null (zero current drive to the
Modifications to the NF122-202A1 card: valve).
(Reference Moog Document NF122-202A1) 9. Re-connect terminal [19] of the NF122-202A1 card.
➢ Set PID for P control. 10. Increase the NF122-202A1 GAIN pot (P2)
➢ Set I/U jumper for current drive. clockwise until the system exhibits the desired
➢ Calculate proper resistor valve for "Z4" to sensitivity. Check the stability of the system
yield desired inner loop gain of three-stage throughout the full load range.
valve. Insert resistor in position Z4. 11. Adjust the NF122-202A1 BIAS pot (P1) for mid
actuator position at zero command signal, or as
desired.

CLOSED-LOOP POSITION CONTROL (2-STAGE VALVE)

A closed-loop, load positioning Suggested Setup Procedure:

+E 28
system uses a high performance -E 30
(Reference Moog Document NF122-202A1)
MODEL NF122-202A1

+ 15V REF 29 POSITION COMMAND

1. Turn off hydraulic power and relieve pressure.
SERVOAMPLIFIER

control valve, an input command - 15V REF 31 9

s
POTENTIOMETER
*
generator (potentiometer or + 15V 28 13 2. Set the GAIN pot (P2) on the NF122-202A1 card
DC GND 22 15
other), a servoamplifier, an actuator, - 15V 30
SERVO
VALVE approximately five turns from full counter-
22
Ps
and a position transducer to
+ 24V

PS GND
20
28
C2 C1 R
clockwise.
24
monitor the output location, -24V 26 30 3. Set the SCALE pot (P9) on the NF122-202A1 card
LOAD

eliminating the need for human 3

DRIVE
full counter-clockwise.
ACTUATOR
observation. The two output 4. Apply electrical power.
control ports of the valve are s
POSITION FEEDBACK
POTENTIOMETER
5. On the NF122-202A1 card, temporarily remove
connected across the actuator. * Ground shield at servoamplifier end only. the feedback connection from terminal [3]. Adjust
Power supplied by common power bus in the 19 inch rack. the BIAS pot (P1) for zero coil current at
In the servoamplifier, the midstroke of the command pot. Re-connect
command input is compared to the terminal [3].
Eurocard Example
present position output of the 6. Apply hydraulic pressure. If the actuator extends
feedback transducer. If a difference fully hardover, reverse terminals [13] and [15].
between the two exists, it is fed to 7. Increase the GAIN pot (P2) clockwise until the
the servovalve as an error signal. system exhibits the desired sensitivity. Check the
This signal shifts the valve spool stability of the system throughout the full load
position, adjusting flow to the range.
actuator, until the feedback position 8. Adjust the BIAS pot (P1) for mid actuator position
output agrees with the command at zero command signal, or as desired.
input and the desired physical
position is achieved or maintained.
The servoamplifier and a DC
position transducer, such as a Modifications to the NF122-202A1 card:
DCDT or linear potentiometer, can (Reference Moog Document NF122-202A1)
be used to create a closed-loop ➢ Set PID for P control.
position controller capable of fast, ➢ Set I/U jumper in "I" position for current
accurate control. drive.
CLOSED-LOOP VELOCITY CONTROL WITH ACCELERATION LIMIT
Closed-loop velocity control with
acceleration limit can be achieved
through the use of a servo-
amplifier. Typically, a packaged + 15V REF
- 15V REF
rotary servomotor is used, and the
velocity is measured by a DC
tachometer driven directly, or
through gearing, from the back of
the motor shaft. The velocity
command signal is obtained from a
potentiometer or a command
source such as a Programmable
Logic Controller (PLC). Integral
control is used for improved speed + 15V REF
- 15V REF
tracking performance.
Moog Technical Bulletin
TB122 contains a detailed
summary of sizing criteria and
performance characteristics of
velocity servos using servomotors.
In these examples, the
Current to Voltage Converter is
used to interface with the 4mA to
20mA current command source
from a PLC to the voltage input of
the servoamplifier.
FORCE CONTROL WITH A PROPORTIONAL SERVOVALVE
A closed loop force control system
is made up of a control valve, an
actuator, a load cell or pressure
transducer, and a servoamplifier.The
two output control ports on the
control valve are connected across
the load actuator.
In the servoamplifier, the
command input is compared to the
present pressure in the actuator
ports (Force = Area x Pressure). If
a difference between the two exists,
it is amplified and fed to the control
valve. This signal shifts the valve
spool position, adjusting pressure in
the actuator until the force output
agrees with the command input.
The Signal Conditioner card
can be used to process pressure
signals and obtain a force feedback
signal from the actuator. Strain gauge
type pressure transducers are often
used in such applications. The signal
conditioning provides stable ampli-
fication of the millivolt-level strain
gauge outputs. DC volt-meters can
be connected to provide visual indi-
cation of the hydraulic pressures.
Suggested Setup Procedure:
(Reference Moog Documents NF122-202A1)
CURRENT TO VOLTAGE CONVERTER
1. Turn off hydraulic power and relieve pressure.
4 INPUT CURRENT
29 4-20 mA
FROM PLC
2. Disconnect the tachometer lead from terminal 9
31
+ 15V 28
3 OR OTHER
on the NF122-202A1 card.
B32020
DC GND 22 10 3. Set the GAIN pot (P2) and the INTEGRATOR
- 15V 30
+ 24V 20
pot (P5) on the NF122-202A1 card approxi-
PS GND
-24V
24 mately five turns from full counter-clockwise.
26
4. Set the SCALE pot (P9) on the NF122-202A1
card full counter- clockwise.
5. Apply electrical power.
6. Adjust ZERO pot (P8) and SPAN pot (P7) on
3 the B32020 card so that 4-20 mA input corres-
29 MODEL NF122-202A1 15 ponds to ±10V output to the NF122-202A1
SERVOAMPLIFIER
31
+ 15V 28
13
SERVO
card.
Ps VALVE R
10
DC GND 22
8
7. Re-connect the tachometer lead to terminal 3
- 15V
+ 24V
30
5
on the NF122-202A1 card.
20
PS GND 24
4
8. Adjust the GAIN by setting pot (P2) full
-24V
26
9
counter clockwise and adjusting pot (P5) for
TG
22
stability. If pot P5 is at full clockwise and more
(Power supplied by common power bus in the 19 inch rack)
GAIN is desired, back pot P5 five turns off full
Eurocard Example
clockwise and adjust pot P2 clockwise until the
Modifications to the NF122-202A1 card: response is achieved.
(Reference Moog Document NF122-202A1) 9. Set the SCALE pot (P9) on the NF122-202A1
➢ Set PID jumpers for I control. card for desired speed range vs command signal
➢ Set jumper JMPR1 for current drive. range. Check the stability of the system
➢ It may be desirable to activate solenoid to throughout full speed and load range.
short out integrator when commanding 10. Adjust the BIAS pot (P1) on the NF122-202A1
"0" RPM. card for zero load speed at zero command input.
Suggested Setup Procedure:
(Reference Moog Documents NF122-202A1 and NF123-211A1)
1. Turn off hydraulic power, relieve pressure.
2. Set the GAIN pot (P2) on the NF122-202A1 card
approximately five turns from full counter-clockwise.
3. Set the SCALE pot (P9) on the NF122-202A1 card
full counter- clockwise.
4. Apply electrical power.
5. Apply hydraulic pressure.
6. If unequal area scaling is required, adjust the ZERO
pots (P6, P7) and SPAN pots (P4, P5) on the
NF123-211A1 card for corresponding pressures
from the strain gauge transducers. Set b=1 by
setting P3 full clockwise. Set a=AR/AB by setting
P2 until voltage at a=AR/AB (voltage Pin 5).
7. Adjust the BIAS pot (P1) on the NF122-202A1
card for zero voltage at minimum setting of the
FORCE command pot.
8. Set the GAIN pot (P2) and SCALE pot (P9) on the
Eurocard Example NF122-202A1 card for the desired force vs
using a voltage driven control valve command signal range. Check the stability of the
system throughout the full load range.
9. Re-set the BIAS pot (P1) on the NF122-202A1 for
zero force corresponding to zero command signal.
Modifications to the NF122-202A1 card:
(Reference Moog Document NF122-202A1)
➢ Set PID for P control.
➢ Set I/U jumper in "U" position for voltage
Moog Inc., East Aurora, NY 14052-0018
drive.
Telephone: 716/655-3000
Fax: 716/655-1803
Toll Free: 1-800-272-MOOG
http://www.moog.com
CDL6195 Rev E 500-203 200