Users Manual: SOBO Controller

Name: MEE-SOBO-3.2.0.
x
Date: 07.11.2011
Revision: C
Certified
Users
Manual
SOBO Controller
Version: 3.2.0.x
KCPU KD01 KD02 KSP1 KDI1 KDI2 KRO1 KRO2 KRO3 END
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CV:
STATUS
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Users Manual for SOBO® Controller
Contents
1. General ........................................................................................................................ 3
1.1 Who to contact.............................................................................................................. 3
1.2 Safety ........................................................................................................................... 3
1.3 Disclaimer..................................................................................................................... 4
1.4 This users manual ........................................................................................................ 4
1.5 Connections ................................................................................................................. 4
1.6 Function ....................................................................................................................... 4
1.7 Disposal ....................................................................................................................... 4
1.8 How to order spare parts .............................................................................................. 5
2. The SOBO® Controller ............................................................................................... 6
2.1 Navigation .................................................................................................................... 6
2.2 Password...................................................................................................................... 6
2.3 Menu Structure ............................................................................................................. 6
2.4 Program Sequence....................................................................................................... 7
3. Functions .................................................................................................................... 8
3.0 Status Monitoring.......................................................................................................... 8
3.1 General settings ........................................................................................................... 9
3.1.1 General / Setup ..................................................................................................................... 10
3.1.2 General / RPM....................................................................................................................... 11
3.1.3 General / Rollback ................................................................................................................. 13
3.1.4 General / GearMon. .............................................................................................................. 13
3.1.5 General / PFM ....................................................................................................................... 14
3.1.6 General / LoadSave .............................................................................................................. 14
3.1.7 General / TestMode .............................................................................................................. 14
3.1.8 General / MODBUS ............................................................................................................... 15
3.2 Start settings ................................................................................................................ 15
3.2.1 Start / Ramp .......................................................................................................................... 15
3.2.2 Start / Reg. ............................................................................................................................ 16
3.2.3 Start / OutOfBand .................................................................................................................. 17
3.3 Brake 1, 2, 3 settings .................................................................................................... 19
3.3.1 BrakeX / Ramp ...................................................................................................................... 19
3.3.2 BrakeX / QuickBrk ................................................................................................................. 22
3.3.3 BrakeX / Parking ................................................................................................................... 22
3.3.4 BrakeX / Reg. ........................................................................................................................ 23
3.3.5 BrakeX / OutOfBand ............................................................................................................. 23
3.4 Safety settings .............................................................................................................. 24
3.4.1 Safety / Setup ........................................................................................................................ 24
4. Speed Detection ......................................................................................................... 25
4.1 Speed Channel ............................................................................................................. 25
4.2 Frequency values ......................................................................................................... 25
4.3 Selecting Proximity Switch or Encoder ......................................................................... 25
4.4 Proximity Sensor guide ................................................................................................. 26
4.5 Encoder ........................................................................................................................ 27
Appendix – Menu structure / Parameters overview ............................................................. 28
Appendix – Electrical connections ....................................................................................... 29
Appendix – Inputs and outputs (I/O)..................................................................................... 30
Appendix – Recommended spare parts ............................................................................... 33
Appendix – Function highlight .............................................................................................. 34
Appendix – Settings .............................................................................................................. 36
Appendix A - Modbus RTU:................................................................................................... 38
Overview ................................................................................................................................. 39
MEE-SOBO-3 2 0 x_C Page 1

Modbus connection for SOBO controller:............................................................................ 40

Modbus RTU address settings for the SOBO controller: .................................................... 40
COM settings for the SOBO controller: ................................................................................ 40
Example of COM settings in Master PLC: ............................................................................ 41
Example of PLC in Master program:..................................................................................... 42
SOBO for Modbus RTU: ........................................................................................................ 43

1. General • In order to maintain the guarantee always

use original spare parts from Svendborg
Thank you for buying a Svendborg Brakes Brakes A/S.
product.
• It is the customer’s responsibility that the
Before using the product please read this
brake and hydraulic aggregate are always
manual carefully.
clean, and free from dirt, grease or oil.
• There should be one manual available for
1.1 Who to contact the service / maintenance crew as a
In case you have any questions to this minimum.
manual please contact your local
representative or nearest Svendborg Brakes Hydraulic power unit:
Office: • Do not operate the hydraulic power unit
before correctly filling the reservoir / oil tank
Svendborg Brakes Offices: with oil.
Denmark: • Do not adjust valves or pressure switches to
Jernbanevej 9, DK-5882 Vejstrup higher operating pressure than specified in
Phone: +45 63 255 255 the manual.
E-mail: sb@svendborg-brakes.com • Do not change the size or type of
components.
Germany: • Do not use hydraulic fluids not
Kirchnerstrasse 42, DE-32257 Bünde recommended in this manual.
Phone: +49 5223 68 540 0
E-mail: sb@svendborg-brakes.de Brakes:
• Do not operate the brake before removing
USA: the air from the hydraulic system by
4155 E. Jewell Ave., Suite 900 bleeding and then re-filling with oil.
Denver, CO 80222 • Do not use higher operating pressures than
Phone: +1 303 285 1271 specified on the nameplate of the brake / or
E-mail: sb@svendborg-brakes.us in the manual.
• Do not change the size or type of spring
China: pack.
T40B-5, No.1765 Chuan Qiao Road • Do not use the brake pads when they are
Pudong 201206 Shanghai worn to the minimum thickness as shown in
Phone: +86 21-58996031 the manual.
E-mail: sb@svendborg-brakes.com • Do not operate the brake if there is dirt or
corrosion protection on disc or brake pads.
Australia:
118 Burswood Road, P.O. Box 48 Personal safety
Burswood, WA 6100 Do not work on the brake/ system before:
Phone: +61 0 8 94 160300 • The manual has been read and understood.
E-mail: sb@svendborg-brakes.com • The brake disc is locked and not able to
rotate before adjusting the brake and / or air
or visit us at: gap.
www.svendborg-brakes.com • Locking / securing the brake piston by using
the air gap bolt / air gap nut if working on a
spring applied brake.
1.2 Safety • Being sure there is no pressure on the
The Svendborg Brakes brake line of hydraulic power unit or circuit.
products is designed to be mounted on a • Being sure the oil pressure in the
rotating brake disc for use in conjunction accumulator(s) has been relieved /
with parking brake applications, service removed.
brake applications or emergency brake • The control signals has been shut off and
applications only. blocked before working on the system.
• The electrical power has been shut off.
Note: • Avoid prolonged skin contact with hydraulic
• Always make sure that you consult fluids – read the manufacturer’s instructions
Svendborg Brakes A/S before using tools or before using hydraulic fluids.
any other equipment not recommended / • If using solvent cleaners you must read the
specified in this manual. manufacturer’s instructions before using a

solvent cleaner, and then carefully follow

these instructions.
24V OV 1 5 1 5 1 5 1 5 1 5 1 5 1 5 1 5
1.3 Disclaimer + + 2 6 2 6 2 6 2 6 2 6 2 6 2 6 2 6
Svendborg Brakes A/S reserves the right to

revise this document without prior - - 3 7 3 7 3 7 3 7 3 7 3 7 3 7 3 7
CV:
notification. These documents have been
STATUS
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proofread for errors in translation and
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accuracy. Despite this, technical and 2022 2022 5151- 1002 1002 2612 2612 2612 9010
•
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typographical deviations can sometimes

occur.
This document is updated on a regular

basis; changes will be published in future 1.6 Function
printings. Improvements and/or changes to The SOBO® Controller is designed to
the described products or manual can be operate a hydraulic power unit / hydraulic
implemented at any time without preceding aggregate providing a controlled braking
notice. cycle or a controlled start up cycle.
In no event shall Svendborg Brakes A/S be The SOBO® Controller can be programmed
liable for any special, incidental, to control a soft braking sequence on almost
consequential or punitive damages. This any hydraulic brake system, e.g. on a
includes, but is not limited to: damage to conveyor, an escalator, a wind turbine, a
other property or person, inconvenience, propeller shaft, a crane, a winch – any
loss of goodwill, lost profits or revenue, loss installation with moving items that need to
of use of this product or any associated be stopped softly and safely. The SOBO®
equipment, cost of substitutive equipment, controller can operate with both active and
downtime costs or claims of any party such passive (fail safe) brakes.
damages, resulting from any misspellings or
inaccurate information in this users guide. 3 programmable braking ramps and 1 (or 3
simple) start up ramp is available – see
This document or parts hereof may in no section 3 for details.
event be copied, reproduced, changed or
translated to other languages without explicit All settings in the Brake Controller can be
written permission from Svendborg Brakes adjusted / modified by use of the display and
A/S. menu wheel on site.
The menu is password protected in order
1.4 This users manual not to allow unauthorized personnel to
modify the settings.
The manual is based on the standard
version of the SOBO® Controller, i.e.
mounted in cabinet and on the side of the 1.7 Disposal
cabinet for the Hydraulic Power Unit. General
For information on how to operate the brake The operator and / or user are responsible
and / or hydraulic power unit please refer to for the proper disposal of the brake and the
the corresponding manuals. associated components.
If any doubts about the correct disposal
This manual is valid for Software Version please do not hesitate to contact Svendborg
SOBO® Controller 3.2.0.x. Brakes or your local dealer or regional
disposal enterprises for further information.
1.5 Connections Hydraulic oil

Hydraulic oil must be treated professionally
The SOBO®
when disposed in order to prevent pollution.
The oil must be removed from the brake and
Customer has to provide:
from the hydraulic system / unit and stored
• Connection / power for Power Supply 24 V
in proper containers until delivery to local
DC
disposal enterprises.
Electronics

If equipped with any electronic

equipment as sensors,
indicators or similar - this
equipment should be treated
as electronic waste
1.8 How to order spare parts

When ordering spare parts for your control
panel please refer to the specific item
number in the parts list / bill of material –
see appendices or the recommended spare
parts list.
FIGURE 1.3
For full identification of the controller please

note the software version from the display
and provide this information when contacting
Svendborg Brakes A/S.

2. The SOBO® Controller Indicates only up, down and enter is

allowed.
2.1 Navigation
Settings are entered through usage of the Example 2 – figure 2.3 B:
menu wheel and the display. Only left, right and down is valid.
FIGURE 2.1
2.2 Password
The menu / settings for the brake controller
are password protected.
This is done in order to prevent
unauthorized personnel from modifying the
settings.
The Password is entered as a 5 digit value.
FIGURE 2.4
DISPLAY MENU WHEEL
2.1.1 The menu wheel is used for entering /

altering settings. It can be pushed / tipped in If the password entered is correct, it will be
4 directions and used as ‘enter’ when possible to enter the menu for checking /
pressed in the middle – see figure 2.2. change of parameters.
FIGURE 2.2
2.3 Menu Structure
The main menu is divided into 6 sections
with corresponding sub menus – it can be
reached after entering the correct password.
For the full menu structure please see

Appendix – Menu Structure / Parameters
overview.
The functions in the sub menus will be

described in Section 3 – “Functions”
2.3.1 General
2.1.2 For full menu structure see Appendix – The general section is used for general /
“Menu Structure”. overall settings like RPM settings, Rollback,
Gear Monitor etc.
When the direction is “greyed” out it means
that this direction cannot be selected 2.3.2 Start
This section contains settings for the start up
FIGURE 2.3 ramp – if any.
If left empty the start up sequence will lift the
brakes immediately.
2.3.3 Brake1
Fig. A Fig. B This section contains settings for the Brake
Ramp 1.
This ramp has the highest priority and is to
be used for the emergency braking cycle.
Example 1 - Figure 2.3 A:

Priority 1 means that it will override all other

ramps i.e. if the Brake Ramp 1 is activated
FIGURE 2.5
during the execution of a Brake Ramp 2 or
Brake Ramp 3 the Brake Ramp 1 will take
over and stop according to this ramp.
This ramp should always have values

entered.
2.3.4 Brake2
This section contains settings for the Brake
Ramp 2 – if used.
Brake Ramp 2 has higher priority then Brake
Ramp 3.
2.3.5 Brake3
This section contains settings for the Brake
Ramp 3 – if used.
Brake Ramp 3 has the lowest priority of the
Brake inputs.
Brake3 is disabled if Safety ramp is in use.
2.3.6 Safety
This section contains settings for open-loop
safety braking ramp.
2.4 Program Sequence

The program in the SOBO® Controller is
executed according to the sequence in
figure 2.5.
In order to use the controller correctly it is

quite important to understand this sequence.
The first block is the Init block – this

initialises the system / loads the general
settings.
If all brake commands are false the Start Up

sequence is initiated. Once finished the
brake is lifted.
Giving a Brake Command initiates the

corresponding Brake Ramp (1, 2 or 3).
If the braking process needs to be aborted

during the cycle the brake command can be
closed / connected again and the brake(s)
will lift.
During the brake cycle the 0 RPM (artificial 0

point) level should be reached and the
parking sequence will be initiated.
Once ended the program loops back to the

beginning.

3. Functions
This section describes the different functions BRAKE COUNTER:
present in the SOBO® Controller.
In the first section the general settings are Number of braking sequences .
described, then the Start Up ramp
parameters are described and finally the
Braking ramp parameters are described.
The menu for the start and braking ramp

parameters are equal except for some
parameters that are not valid for the Start Up DIRECTION:
ramp.
Direction detected.
For full menu structure please see Appendix
– “Menu Structure”.
3.0 Status Monitoring

7 different parameter can be monitored in
the SOBO® Controller display.
INPUT:
Input Status.
SW Version / PROJECT NAME: Input 1
Actual software version loaded in the

Controller and Actual Project loaded in the Input 4
Controller.
.
Input 1 Brake Ramp 1
Input 4 Reset
MAIN INFO (Default) :
Basic info for system shows actual RPM,

REG. Value : -100 - +100 and sequence
state.
CV: Value
-100 = Brake fully Closed.
100 = Brake fully lifted.

OUTPUT: 3.1 General settings

The General setup is arranged with the
Output Status.
following parameters.
Within the General group there are following

subgroups: Setup, RPM (Speed),
Rollback, GearMonitor, PFM,
Load&Save, Test Mode and MODBUS.
Output 0 FIGURE 3.1
Output 3
Output 0 Operation Output

Output 1 Safety Output
Output 2 Roll Back
Output 3 Out of Band
Output 4 Limit
Output 5 Sensor Failure
Output 6 Sensor failure CH 1
Output 7 Sensor failure CH 2
Output 8 Gear failure
Output 9 System OK
Output 10 RollBack Ready
Output 11 Critical Error
Output 13 NoRPM
Output 14 NoRPMTimer
LOG:
Logging of the last 10 actions.
Example: 20312291
20312291 Month
20312291 Date
20312291 hour
20312291 Minute
20312291 Ramp ( activated )
Log 0 ( Latest log)
Log ....
Log 9 (oldest log)

[8]: Gear Failure

3.1.1 General / Setup [9]: System OK
[10]: Rollback Ready
[11]: Critical Error
FIGURE 3.2 [13: No RPM Value
[14]: OFF
Configurable Relay output R06:
[0]: Operational
[1]: Safety
[2]: Rollback
[3]: Out Of Band
[4]: Limit RPM
[5]: Sensor Failure( Default)
RO6 [6]: Sensor CH1 Failure
[7]: Sensor CH2 Failure
[8]: Gear Failure
PARAMETER DESCRIPTION [9]: System OK
Number Of Number of used braking ramps
[12]: No RPM Value
Ramps (default = 1)
[13]: NoRPMTimer
Negation of Max Torque Valve [14]: OFF
NegMaxTorque
output
Configurable Relay Outputs
NegRO3,4,5,6
Negation of SOBO® Valves negation. NO or NC (failsafe)
NegSOBO®Valve
outputs (lifting and braking)
NegMaxLift Negation of Max Lift Valve output
NumberOfRamps
The SOBO® Controller allows to use up to
[0]: Operational three independent braking ramps (profiles).
[1]: Safety By setting this parameter it is possible to
[2]: Rollback (Default)
[3]: Out Of Band
fully deactivate unused ramps – also hide
[4]: Limit RPM the unused groups in the Menu.
[5]: Sensor Failure
RO3 [6]: Sensor CH1 Failure NegMaxTorque,NegSOBO®Valve,
[8]: Gear Failure
NegMaxLift
[9]: System OK if necessary all the hardware outputs for the
[10]: Rollback Ready valves can be negated.
[12]: No RPM Value
[13]: NoRPMTimer
[14]: OFF
[0]: Operational
[1]: Safety
[2]: Rollback
[3]: Out Of Band (Default)
[4]: Limit RPM
[5]: Sensor Failure
RO4 [6]: Sensor CH1 Failure
[8]: Gear Failure
[9]: System OK
[12]: No RPM Value
[13]: NoRPMTimer
[14]: OFF
[0]: Operational
[1]: Safety
[2]: Rollback
RO5
[3]: Out Of Band
[4]: Limit RPM (Default)
[5]: Sensor Failure

RO3, RO4, RO5, RO6 3.1.2 General / RPM

By setting those parameters user can decide
which acknowledgement output signals are FIGURE 3.3
available on 4 hardware Relay Outputs.
1 Operational True when braking is in
process
2 Safety True when controller is OK
3 Rollback True when Roll Back is
detected
4 Out Of Band True when out of band is
detected
5 Limit RPM True when PARAMETER DESCRIPTION
Speed > = Limit1
6 Sensor Failure True when sensor 1 or 2 is PPR1 Pulses Per Revolution for input 1
missing
7 PPR2 Pulses Per Revolution for input 2
Sensor CH1 True when sensor 1
Failure NegDirection Negation of rotation direction
8 Sensor CH2 True when sensor 2
Failure Limit RPM Limit threshold
9 Gear Failure True when Gear failure LimHyst RPM Limit threshold hysteresis
10 System OK True when OK
Limit Counter defines the number
(NOT SafetyOutput OR of times the system is allowed to
LimitCount
Sensor Failure Output OR set the Limit output, after this an
Gear Failure Output OR external reset is needed
RollBack Output) Delay for detecting O RPM Brake
11 Rollback Ready for Rollback NoRPMTimer
lifted or during start up
Ready detection.
When roll back function
activated and no Sensor The Controller must receive an RPM signal
failure from an incremental encoder (push-pull) or
12 Critical Error (future function) from one or two proximity switches with a
target disc (see figure 3.4)
13 No RPM Value Zero RPM detected
14 No RPM Timer Zero RPM Value FIGURE 3.4

After time set
15 OFF
NegRO3,4,5,6
By default all hardware configurable relay
outputs are NO type. If necessary this can
be changed to work as failsafe NC outputs.
This parameter is a common parameter for
all 4 configurable relay outputs.
Proximity switches and the target disc must

be installed according to specifications from
Svendborg Brakes A/S.
PPR1
The Pulses Per Revolution (PPR) is used to
calculate the correct RPM value for
controlling of deceleration and acceleration
ramps.
PPR2
If Gear Monitor is enabled this parameter is
used to set the correct PPR value for
frequency input 2. See section Gear
Monitor for more details.
NegDirection (Negate Direction)

The NegDirection is used to negate /
invert the direction of the signal if needed.

Limit FIGURE 3.6
Output: Limit
The Limit value is a threshold which sets a

Digital output when the Process Value (PV)
is exceeding the Limit.
This function can be used to detect an over-
speed situation.
LimHyst (Limit Hysteresis)

Setting the hysteresis gives the opportunity
to avoid flickering of the output signal Limit
LimitCount (Limit Counter)

If LimitCount is set to zero, the Limit
output signal is deactivated automatically NoRPMTimer
each time RPM goes under [Limit-
LimHyst]. (see figure 3.5) Output: NoRPMTimer
If 0 RPM is detected after the
FIGURE 3.5
brake has been lifted or during
Start-Up the output is activated
after time set in ¨NoRPMTimer¨.
If LimitCount is set > 0, the Limit output

signal is deactivated automatically [Limit-
LimHyst] until
Actual activations =>LimitCount
After this the output must be deactivated

with external reset signal after RPM goes to
zero.
(see figure 3.6)

3.1.3 General / Rollback MaxTorque

When MaxTorque is enabled (ON) then the
FIGURE 3.8 max.torque valve on the hydraulic power
unit is also used for releasing / dumping to
tank.
DeactTime (Deactivation Time)

After system start (all braking signals
deactivated) Rollback monitoring is
performed only for defined period to avoid
Output: Rollback false alarms during full system speed.
Figure 3.9 illustrates the progress of the Roll

The Rollback function can be used as an Back function
electronic controlled back stop. FIGURE 3.9
The Rollback feature can be used during the

start up process preventing the system from
running in the wrong direction.
PARAMETER DESCRIPTION
Time for Roll Back before Braking

Delay ( if set to 0 the Rollback function is
not active)
Braking time defines the period for
BrkTime
which brakes are fully closed
Counter Level defines the number
of braking cycles after which
CountLevel
brakes are closed fully and reset is
needed
Max Torque valve activation during
MaxTorque
braking
Deactivation Time defines how
DeactTime long the Rollback is active after
system start
Delay (Rollback Delay)

The value for Delay determines for how 3.1.4 General / GearMon.
long time the system is allowed to roll
backwards before the brakes are applied The parameters are used in the SOBO®
(bypassing all ramps). Controller for Gear Monitoring Function.
As default the Rollback function is not
enabled (Delay = 0) FIGURE 3.10
This option is disabled if Gear Monitor is
activated.
BrkTime (Brake Time)

The BrkTime value is the time the brakes
are applied after getting the brake signal
from Delay Output: Gear Failure
CountLevel (Counter Level)

The CountLevel is the number of Rollback
cycles allowed before an external reset is
needed.
Counter is reset each time when RPM goes
to zero.

PARAMETER DESCRIPTION
PWLift (Pulse Width Lifting)
This value determines the length of pulses
GMEnabled Enable / Disable the Gear Monitor
for lifting.
Ratio between frequency channel 1
GMRatio
and channel 2 MinOFF (Min Pulse Off Time)
DeadBand Ratio Deadband This value determines the shortest time
between two pulses (when control output is
Delay Gear Monitor alarm delay
maximal)
GMEnabled (Gear Monitor Enabled) MaxOFF (Max Pulse Off Time)

Gear monitor functionality can be activated This value determines the longest time
with this value. This option is disabled if between two pulses (when control output is
Rollback function is activated. minimal)
GMRatio (Gear Monitor Ratio)

Ratio between frequency channels. This is 3.1.6 General / LoadSave
calculated automatically when frequency
reaches 50Hz level first time after GM FIGURE 3.12
activation. Can be also changed manually.
If new automatic calculation is needed, set
the parameter to 0 when system is fully
stopped.
DeadBand
Load Defaults
Defines the band within the difference
between reference ratio (GMRatio) and If necessary, default factory settings can be
actual calculated ratio is not considered as restored with this option.
an error.
Load Custom
Delay If custom settings have been previously
Defines the time delay after failure detection saved they can be restored here.
for setting the alarm output signal.
Save Custom
Customer has an opportunity to save all the
3.1.5 General / PFM current menu settings with that option.
3.1.7 General / TestMode

The parameters are used in the SOBO®
Controller for Pulse Frequency Modulation
settings. In TestMode each output can be operated
individually (system not running).
The main reason for this function is to make
FIGURE 3.11
a easy test for external connection during
commissioning.
Test Mode has a direct influence for

hardware outputs therefore it SHOULD NOT
be used without sufficient knowledge.
PARAMETER DESCRIPTION Entering that menu subgroup is possible

only when system is fully stopped (no RPM
PWBrk Pulse Width for braking signal). It also requires the service level
(highest) password.
PWLift Pulse Width for Lifting
MinOFF Min Pulse OFF time
MaxOFF Max Pulse OFF time
PWBrk (Pulse Width Braking)

This value determines the length of pulses
for braking.

FIGURE 3.13
3.2 Start settings

When the system receives
receive the Lift Brake
signal Start up sequence will be performed
when all braking contacts
con (BRAKE1, 2 & 3)
are TRUE.
The start up will be performed according the

parameters in START menu:
Output Behaviour
LiftingValve Blinking The Ramp, Reg. (Regulation) and
BrakingValve Blinking OutOfBand parameter
arameters, are set in the
MaxLiftValve Blinking START menu.
FullTorqueValve Blinking
OperationOutput On/Off FIGURE 3.15
SafetyOutput On/Off
R03 On/Off
R04 On/Off
R05 On/Off
R06 On/Off
3.1.8 General / MODBUS
The
he Hardware SOBO® Controller has a
build in MODBUS port.
The SOBO® controller supports Modbus
RTU 485 on com 2
FIGURE 3.14
3.2.1 Start / Ramp

MODBUS address is default set to address
These parameters are used for
41, but can be adjusted in the range of 41
programming the shape and character of
…59.
startup reference profile.
FIGURE 3.16
To use Modbus RTU COM 2 RS232 has to

be set to OFF (default
default setting)
For detail info please see appendix A:

PARAMETER DESCRIPTION VALUES Performing StartUp according to chosen

ramp profile in SimpleRamp mode
SimpleRamp ON/OFF
Always
Y0 First segment Y
=0 StartUp feature is starting immediately
X0 First segment X
Always after all 3 Brake Commands are Activated*.
=0 To choose which StartUp profile should be
Y1 (Ya) Second segment Y used the Brake Commands should be
X1 (Xa) Second segment X Activated in proper sequence – last
Y2 (Yb) Third segment Y activated determines which StartUp profile is
X2 (Xb) Third segment X used.
Y3 (Yc) Fourth segment Y
X3 (Xc) Fourth segment X For example: If SimpleRamp = ON ,
SOBO® is in InitStep (system is stopped
Start Up ramp is processed according to = speed is 0) and Startup sequence should
parameters gathered in Start/Ramp menu be performed according to profile StartUp
group. This could be processed in two B do the following:
different ways depending on SimpleRamp
parameter setting: 1. Deactivate all Brake Commands
2. Activate Brake Command 1 and 3
SimpleRamp = OFF 3. Activated Brake Command 2 – SOBO®
In this mode there is only one StartUp ramp performs Startup sequence according
profile available, but it can be more complex to StartUp B
(up to three segments). Ramp profile is fixed
according to given X,Y parameters
*Activated = set to 1 = brake command OFF
1200 FIGURE 3.17
Y0: 0
X0: 0
1000 3.2.2 Start / Reg.
Y1: 200 800
The parameters are used for setting the

speed (rpm)
X1: 5 600
regulator.
Y2: 800 400
The section is valid for both START and
X2: 8 200 BRAKE 1, 2, 3.
Y3: 1000 0
0 2 4 6 8 10 12 14 16
time (seconds)
X3: 15 FIGURE 3.19
SimpleRamp = ON
In this mode there is possibility to use up to
three different StartUp ramp profiles,
however each ramp profile consist of one
segment only.
Y0: 0 1400 FIGURE 3.18 PARAMETER DESCRIPTION VALUES

X0: 0 1200
Lift Kp P parameter - Lifting Value

Ya: 1000 1000
800
Lift Deadband MinDeadband - Lifting %
speed (rpm)
Xa: 5
600
Yb: 1000 Lift CutOffLv CutOffLevel - Lifting rpm

400
Xb: 9
200 Brake Kp P parameter - Braking Value
Yc: 1200 0
Xc: 16
0 2 4 6 8 10
time (seconds)
12 14 16 18
Brake Deadband MinDeadband - Brake %
Brake CutOffLv CutOffLevel - Brake rpm

The X value (Time value) and the Y value
(RPM value) are entered into the
corresponding parameters. Kp
Values Y0 and X0 should be zero ALWAYS!
Gain value for the regulator - Lifting /Braking

Deadband
Deadband – Lifting/Braking FIGURE 3.22
The difference between PV (Process Value
– actual RPM) and SP (Set Point) has to be
larger than Deadband for the regulator to
start acting.
If the difference is within the Min Dead Band,

the controller output does not react at the
change.
CutOffLv
Cut Off Level – Lifting/Braking The OutOfBand function will detect if the
The system will store max difference actual speed deviates from the SetPoint and
between PV and SP and check if that will give a warning signal if PV is out of
difference is getting smaller. band.
Regulator Output (CV) goes to 0 if following
condition is fulfilled: This feature can be used as an online check
Max|SP-PV| - Actual|SP-PV| > CutOffLevel on the system i.e. loss of sensor failure in
It means that the hydraulic connection to the the hydraulic system, brake failure, gear box
brake will be closed – no Lifting and no failure etc.
Braking force.
The Pressure will be kept as it is. HiLimPer (High Limit - Percentage)
The level for the limit on the high / upper
See figure 3.35 for a graphical overview. side of the SP curve in percentage mode.
Regulating Principle LoLimPer (Low Limit - Percentage)

The Controller works as a closed Loop The level for the limit on the lower side of
system. the SP curve in percentage mode.
FIGURE 3.20 ABSLv (Absolute Level)

The ABSLv is the level of SP value where
Hydraulic Brake Controller calculation of the deviation will change from
Unit (PFM)
percentage to an absolute mode.
The ABSLv is as default = 0. This means
that OutOfBand works in percentage mode
Disc
in the whole range of RPM speed.
Feedback (PV)
Brake
RPM
There are two modes for this function:
Percentage and Absolute. Switching
The regulation is based on closed loop between those modes is performed
regulation principle. automaticaly when RPM croses the ABSLv
threshold.
FIGURE 3.21 Full percentage mode can be obtained by
setting the ABSLv = 0
SP PFM CV Full absolute mode can be obtained by
Process
setting the ABSLv to a value higher than the
max RPM value of the controlled system.
PV
Feedback (PV) RPM
In percentage mode the OutOfBand band
narrows at low speeds
The Controller will calculate the failure
between the SetPoint (SP) and the Process Example:
Value (PV), and adjust the brake pressure ABSLv = 500
according to this.
If SP (SetPoint) > 500 the system will
3.2.3 Start / OutOfBand calculate the difference between PV and SP
Parameters are used in the SOBO® in %.
Controller for Out of Band detection.
The section is valid for both START and
BRAKE 1, 2, 3

If SP (SetPoint) <= 500 the system will

calculate the difference between PV and SP
in Absolute value.
If the width of the band is calculated in

absolute value the OutOfBand band is
parallel to the ramp.
See figure 3.23 for a graphical illustration of
OutOfBand function.
FIGURE 3.23

3.3 Brake 1, 2, 3 settings 3.3.1 BrakeX / Ramp

When the system is lifted and receives a
Brake Command signal -> FALSE from FIGURE 3.25
BRAKE1, 2 or 3 the system will perform a
Braking Sequence according to the brake
input selected (BRAKE1, 2 or 3).
Priority:
Brake Input1 has the highest priority, Input2
the second and Input3 the third priority. The
lower input number will override / rule all
other brake commands i.e. if the Brake
Input1 is activated during the execution of a
Brake Input2 the Brake Input1 will take over
and stop according to this ramp.
The braking cycle will be performed

according to the parameters in the selected BrkMode (Brake profile Mode)
brake group BRAKE1, BRAKE2 or There are four different brake profile modes
BRAKE3 menu: to choose from. The selection depends on
the application and customer needs.
FIGURE 3.24 This setting has a major influence on the
braking sequence execution.
The BrkMode sets the brake mode to either:
TIME = Constant Time Mode (Default)

FIXED = Constant RPM / TIME Mode
DECELER. = Constant Deceleration Mode
DISTANCE = Constant Distance Mode
TIME = Constant Time (Default)

In this mode the Brake Time will always be
constant.
If the Process Value (PV) value is different

from nominal RPM Level, the Setpoint curve
will fit to the actual PV, when receiving a
Brake Command
See figure 3.26 for a graphical view of the

brake / stopping curve in constant time
mode.
FIGURE 3.26
Within the BRAKE1, 2 & 3 group parameters

are for Ramp, QuickBrk (Quick Brake),
Parking, Reg. (regulation) and
OutOfBand settings.

FIXED = Constant RPM / TIME DISTANCE = Constant Distance

In this mode the RPM and TIME are fixed This mode allows the brakes to stop the
and braking sequence is always performed controlled machine (e.g. a conveyor belt)
according to the same profile when receiving after a certain distance regardless of the
a Brake Command. initial speed and load conditions.
In that case the RAMP parameters work a
See figure 3.27 for graphical view of the bit differerently from other braking modes.
brake / stopping curve in FIXED mode. Here, the values are treated as relative, not
absolute. The curve is normalized in a way
FIGURE 3.27 that the maximum speed and maximum time
are scaled to one on their respective axis.
This means, for example, that while using
only two point curve (a straight line), the
resulting normalized ramp will be always the
same. The normalized shape is scaled
according to the speed at the beginning of
the braking process and desired distance
(which is equal to the area under the speed
over time curve).
Figure 3.29 shows the influence of the initial

speed on the braking profile. There are
three profiles. The first one is the reference
at nominal speed. The other two start the
The Mode is useful in case of checking braking proces at different levels of speed.
another system – for example: Shadow All the profiles have the same area under
Braking. the curve and their relative shape is the
same.
DECELER.= Constant Deceleration
FIGURE 3.29
In this mode the Deceleration will be
constant.
If the PV value is different from the nominal

RPM Level, the curve is pushed or pulled in
parallel to the programmed curve.
This means that the system will have the

same deceleration force, but the braking
time will fit to the actual situation, when
receiving a Brake Command.
See figure 3.23.28 for a graphical view of

the brake / stopping curve in constant
Deceleration mode
While entering the profile points there are
FIGURE 3.28 two recommended approaches. If you are
using braking on distance exclusively, it is
recommended to set the shape in
percentages (e.g. [0,100], [10,95], [80,10],
[100,0]). This gives a good idea about the
resulting profile shape.
If another braking mode is used on any of

the three braking ramps and you would like
to keep the shape similar at all ramps you
can use the same coordinates for all the
braking modes, there is no need to
recalculate the desired shape to
percentages, this is done by the SOBO®
Controller automatically.

BRAKE2
While braking on distance, please keep in Y0 1000
mind, that this is not a high precision servo- X0 0
First X value is
drive, the accuracy of the braking distance always = 0
can be influenced by many mechanical Y1 800
factors and also by the SOBO® Controller X1 5
settings (e.g. the artificial zero setting). In Y2 100
general, it is possible to be accurate within 5 X2 10
% of the desired distance. Last Y value is
Y3 0
always = 0
X3 15
SimpleRamp
BRAKE3
If the braking programmed profile is a simple
Y0 500
one-segment straight line this option should
First X value is
be enabled. When activated the menu is X0 0
always = 0
simplified and there are only two pairs of Y1 400
X-Y co-ordinates. X1 5
Y2 50
X–Y co-ordinates
X2 10
All braking ramp profiles are build up as X - Last Y value is
Y matrix – see table in figure 3.30. Y3 0
always = 0
The profile can consist of up to 4 segments X3 15
with different values.
The X value (Time value) and the Y value Distance
(RPM value) are entered into the Desired braking distance in meters (visible
corresponding parameters. only if Ramp set to Distance brake mode)
Value X0 (start time) and Y3 (end speed)
should always be equal to 0. Factor (Ratio Factor)
Since the SOBO® Controller senses the
speed on the brake disc and not the actual
FIGURE 3.30
distance, it is necessary to enter a factor,
which converts the number of brake disc
1200
rotations to distance in meters. The size of
1000 this factor depends on the gearing from the
motor to the moving mechanism. It can be
800
either measured on the machine or
Y 600 computed. The dimension of the factor is
400 number of rotations per one meter. In case
this factor is one, the distance in meters is
200 corresponds to the number of rotations of
0 the brake disc.
0 5 10 15
BRAKE1 1000 0 Example of calculation:
BRAKE2 1000 800 100 0 Let us say the brake disc is on the high
BRAKE3 500 400 50 0
speed shaft of a gearbox with 25:1 ratio.
X
The gearbox is connected to a drum that
directly runs a conveyor belt. The diameter
of this drum is 1 meter. The factor is given
Sample data for brake curves in figure 3.30. with number of rotations per meter of
movement. The gearbox transforms 25
Parameter Value Note rotations on the motor shaft to 1 rotation at
BRAKE1 the gearbox output shaft. The diameter of
Y0 1000 the drum is one meter. That means that one
X0 0
First X value is rotation of the drum moves a length of the
always = 0 belt which is equal to the drum
Y1 0 circumference. That is computed by
X1 5 multiplying the diameter with the π (pi)
Y2 0 constant. In this case, one rotation of the
X2 0 drum means 3.142 meters of movement.
Last Y value is The inverse of this number is 0.318.
Y3 0
always = 0
Therefore, it is necessary for the drum to
X3 0
turn 0.318 of rotation to move 1 meter. By

multiplying this number with the gearbox 3.3.3 BrakeX / Parking

ratio we get the total scale factor which is in The parking function is used to stop the
[ ]
this case f T = 25 ⋅ 0.318 = 7.95 rot / m . braking cycle in the end of the braking cycle.
This function will do an open loop to adjust
the pressure in the end of the braking
Acurracy of three valid digits is sufficient.
sequence.
This computation is simplified and does not
give absolutely precise results, but it is FIGURE 3.32
recommended to do it in all cases to get the
first estimation of the factor.
3.3.2 BrakeX / QuickBrk
FIGURE 3.31
Once the 0RPM level is reached a 4 step

QBrkTime (Quick Brake Time) parking sequence is initiated.
QBrkTime is the time in milliseconds with a The Parking Sequence is an fully
forced Braking output when receiving a configurable open-loop control. Each of four
Brake Command i.e. the amount of time steps is configured by two variables: length
where oil is dumped to tank. of the step (time) and CV at the end of the
step (CV for step 4 is always =-100 means
This can be used in systems with large full braking)
amount of oil in the system to get rid of the
volume in the first short phase of braking See figure 3.33 and following example:
sequence and by that means obtain a faster
contact of the brake with the disc. FIGURE 3.33
QBrkLv (Quick Brake Level)
If the system runs with a wide range of
speed the quick brake function can cause to
hard braking when braking sequence is
started with low speed. QBrkLv is a
threshold value (RPM) below which
QuickBrake will not be performed.
Example:
QBrkTime = 300ms
QBrkLv = 100rpm
Braking started at 350rpm – controlled

braking is overrided for the first 300ms
SOBO® Brake Valve is fully open Dataset for Figure 3.33:
Braking started at 90rpm – Quick Brake
Time1 = 5.0 sec CVLevel1 = 100 %
disabled, SOBO® Controller performs a
normal sequence according to programmed Time2 = 2.0 sec CVLevel2 = -40 %
parameters.
Time3 = 3.5 sec CVLevel3 = 0 %
QBMaxTqValve (Quick Brake Max Torque Time4 = 4.0 sec CVLevel4 = -100 %
Valve)
For the system with very large volume of oil
Parking sequence should be configured
opening the SOBO® Brake valve only may
always when it is necessary to make a very
not be sufficient. This option makes possible
soft stop and release the tension on the
to use also Max Torque Valve during Quick
shaft before full stop with completely closed
Brake.
brakes.
This soft stop is not possible to obtain with a
normal closed-loop ramp as the frequency

goes below 5Hz and therefore RPM Regulating Principle:

calculation is not reliable. The Controller works as a closed Loop
system.
3.3.4 BrakeX / Reg.
FIGURE 3.34 FIGURE 3.36
Hydraulic Brake Controller

Unit (PFM)
Disc
Feedback (PV)
Brake
RPM
Kp
Gain value for the regulator - Lifting /Braking
FIGURE 3.37
Deadband PFM CV
Process
Deadband – Lifting/Braking
The difference between PV (Process Value
– actual RPM) and SP (Set Point) has to be PV
Feedback (PV) RPM
larger than Deadband for the regulator to
start acting.
If the difference is within the Min Dead Band, The Controller will calculate the failure
the controller output does not react at the between the SetPoint (SP) and the Process
change. Value (PV), and adjust the brake pressure
according to this.
CutOffLv
Cut Off Level – Lifting/Braking 3.3.5 BrakeX / OutOfBand
The system will store max difference
between PV and SP and check if that FIGURE 3.38
difference is getting smaller.
Regulator Output (CV) goes to 0 if following
condition is fulfilled:
Max|SP-PV| - Actual|SP-PV| > CutOffLevel
It means that the hydraulic connection to the
brake will be closed – no Lifting and no
Braking force.
The Pressure will be kept as it is.
See figure 3.35 for a graphical overview.

The OutOfBand function will detect if the
actual speed deviates from the SetPoint and
will give a warning signal if PV is out of
RPM
PV FIGURE 3.35 band.
Max |PV-SP|
This feature can be used as an online check
on the system i.e. loss of sensor failure in
the hydraulic system, brake failure, gear box
SP
Cut Off Level - Braking failure etc.
HiLimPer (High Limit - Percentage)

Time The level for the limit on the high / upper
Cut Off Active
side of the SP curve in percentage mode.
LoLimPer (Low Limit - Percentage)

The level for the limit on the lower side of
the SP curve in percentage mode.

ABSLv (Absolute Level) not reliable and therefore normal closed-

The ABSLv is the level of SP value where loop braking cannot be performed.
calculation of the deviation will change from
percentage to an absolute mode. 3.4.1 Safety / Setup
The ABSLv is as default = 0. This means
that OutOfBand works in percentage mode FIGURE 3.40
in the whole range of RPM speed.
There are two modes for this function:

Percentage and Absolute. Switching
between those modes is performed
automaticaly when RPM croses the ABSLv
threshold.
Full percentage mode can be obtained by HWSafetyMode
setting the ABSLv = 0 HWSafety Ramp is enabled by setting this
Full absolute mode can be obtained by value to ON. Braking according to safety
setting the ABSLv to a value higher than the ramp is in that case activated through Input
max RPM value of the controlled system. Brake3 and has the highest priority,
therefore if the safety ramp is used there is
In percentage mode the OutOfBand band possibility to use only Brake1 and Brake2 as
narrows at low speeds normal closed-loop ramps.
Example: SWSafetyMode
ABSLv = 500 SWSafety Ramp is enabled by setting this
value to ON.
If SP (SetPoint) > 500 the system will If activated the Controller will use Safety
calculate the difference between PV and SP ramp if the RPM = 0 rpm when it receives
in %. brake command.
If SP (SetPoint) <= 500 the system will
calculate the difference between PV and SP CVRamp
in Absolute value. By this parameter it is possible to decide
If the width of the band is calculated in how smooth the safety braking sequence
absolute value the OutOfBand band is should be.
parallel to the ramp. It decides how fast the Control Value will
raise from 0 to -100 (full braking). In case a
See figure 3.39 for a graphical illustration of fast reaction is necessary this should be set
OutOfBand. to 0 ms.
FIGURE 3.39 See examples below.
FIGURE 3.41
MaxOff
Describes the max off time between pulses
for the PFM algorithm. See PFM description
3.4 Safety settings for more details.
Safety settings can be used for emergency
open-loop soft braking in case of any
situation where RPM signal is not present or

4. Speed Detection 4.2 Frequency values

The Speed Signal (RPM value) is a very The regulation of the braking torque
important part of the control system for any depends on the speed signal.
SOBO® Controller application.
In order to detect the speed correctly the
When selecting the measuring method frequency should be within certain limits.
several things / factors must be taken into If the frequency / pulses per revolution
consideration: (PPR) are outside the recommended limits
• The speed signal must be stable, i.e. a the controller may regulate incorrectly.
constant rotation speed must also give a
constant RPM value. The lower limit is approximately 200Hz (200
• A change of rotation speed must give a pulses per second) and the upper limit is
corresponding change of RPM value. 100kHz. at nominal speed.
Normally, this doesn’t cause many 4.3 Selecting Proximity Switch or

problems, but using a weak or flexible Encoder
bracket for a proximity switch or an The selected type of speed sensor is
exocentric mounted encoder can give a dependant on the application and specific
variable speed signal. needs, but these general guidelines can be
The SOBO® Controller can handle various used:
types of speed sensors like, proximity • The speed signal is taken from the low
switches and encoders. speed side of the drive system - use an
encoder.
4.1 Speed Channel Typical values will be 2 - 100 RPM
The SOBO® Controller has two different • The speed signal is taken from the high
speed channel. speed side of the drive system - use a
This make it possible to: proximity switch.
Typical values will be 500 – 1,800 RPM.
1: Detect direction. • The speed signal is taken from the
Both sensors has to be healthy. medium speed side of the drive system -
use a proximity switch or an encoder.
2: Redundant speed signal. Typical values will be 100 - 500 RPM.
The Controller will use the healthy
speed input. 4.3.1 There might be physical / mechanical
factors that have influence in the selection of
sensor type i.e. it is not possible to mount a
proximity switch or an encoder.
The SOBO® Controller calculates the RPM
signal when frequency is above 5Hz (below 4.3.3 When using a proximity switch, there can be
only direction detection is active) problems concerning the frequency at low
speed and a low PPR value.
Max frequency input is 100 kHz. Check for frequency too low and if
necessary use more targets on the target
Reliable RPM calculation is critical for disk.
ensuring the proper SOBO® Controller
behaviour. 4.3.4 When using an encoder, there can be
problems concerning the frequency at high
The frequency is calculated by using the speed and a high PPR value.
following formula: Check for frequency too high (max. 100
kHz) and if necessary use an encoder with a
FIGURE 3.7
low PPR value.
PULSES PPR × RPM 12 × 125
f = = = = 25 Hz There will always be different opinions about
SEC 60 60 the reasons for using a proximity switch or
an encoder.
The example shows 12 pulses and 125 rpm The main issue is to get a speed signal as
equals 25Hz which is below 100kHz and is close to the optimum for a stable signal, and
ok. long lifetime for the set-up.

4.4 Proximity Sensor guide FIGURE 4.4

The recommended sensor type is proximity
switches.
It is highly recommended to use 2 proximity
switches and use the redundancy function
within the Brake Controller.
FIGURE 4.1
4.4.2 The bracket for mounting of the proximity

switches can be designed as per figure 4.5
If only using one sensor the sensor failure

output signal will all ways come.
FIGURE 4.5
FIGURE 4.2
The recommended min / max distance from

switch to target is 4mm/8mm
The recommended minimum target height
(D) is 6 mm and the rrecommended target
diameter (C) is 18mm
FIGURE 4.3
A=B+½C
C=16-24mm
Fx M12 Unbrako
B=minimum 3xC
D=minimum 6mm
See table 4.1 – “Target guide” for general

guidelines / dimensions for installation of
proximity switches.
For revolutions lower than within the table

an encoder can be used.
4.4.1 The target points should ideally be round –

see figure 4.4 for details.

Table 4.1 – Target guide

4.5 Encoder
Target Distance
Encoders can be of various different types Max.
Revolution disc between
Frequency PPR
and from different suppliers. [RPM] diameter Targets
[Hz]
(E) [mm] (B) [mm]
When selecting the encoder for a specific 301 - 400 300 58,9 80 - 106 16
project it is important that the encoder 401 - 500 300 58,9 106 - 133 16
parameters do match the present values
501 - 750 300 58,9 133 - 200 16
like: maximum allowed speed or pulses.
751 - 1000 300 58,9 200 -267 16
FIGURE 4.5 1001 -2000 300 58,9 267 - 533 16

2001 -3000 300 58,9 533 - 800 16
3000 -3600 300 58,9 800 - 960 16
201 - 300 400 52,3 80 - 120 24
301 - 400 400 52,3 120 - 160 24
401 - 500 400 52,3 160 - 200 24
501 - 750 400 52,3 200 - 300 24
751 - 1000 400 52,3 300 - 400 24
1001-2000 400 52,3 400 - 800 24
It is also important that the encoder is 2001-3000 400 52,3 400 - 600 12
mounted according to the specifications of 3000-4000 400 52,3 600 - 800 12
the supplier / manufacturer. 201 - 300 500 56 93 - 140 28
301 - 400 500 56 140 - 186 28
Calculating minimal PPR value
401 - 500 500 56 186 - 233 28
To calculate minimal value of PPR you can 501 - 750 500 56 233 - 350 28
use the following formula: 751 - 1000 500 56 350 - 467 28
1001-2000 500 56 467 - 933 28
60 • frequency 2001-3000 500 56 467 - 700 14
PPR =
RPM 3000-4000 500 56 700 - 933 14
Calculating Frequency value
To calculate minimal value of Frequency you

can use the following formula:
PPR • RPM
Frequency =
60
Calculating minimal RPM value
To calculate minimal value of RPM you can

use the following formula:
60 • frequency
RPM =
PPR

Appendix – Menu structure / Parameters overview

Appendix – Electrical connections

Appendix – Inputs and outputs (I/O)

24V OV 1 5 1 5 1 5 1 5 1 5 1 5 1 5 1 5
+ + 2 6 2 6 2 6 2 6 2 6 2 6 2 6 2 6
- - 3 7 3 7 3 7 3 7 3 7 3 7 3 7 3 7
CV:
STATUS
PE PE 4 8 4 8 4 8 4 8 4 8 4 8 4 8 4 8
RPM:
2022 2022 5151- 1002 1002 2612 2612 2612 9010

0051

Outputs (Valve) - DO Status Address

Lift Output Lifting Output. - -KDO1:1/3-
Brake Output Brake Output. - -KDO1:5/7-
Max. Lift Output Balance Pressure - -KDO2:1/3-
Max. Torque Output Full Brake Torque - -KDO2:5/7-
Inputs – Speed Status Address
Speed input A Speed input Channel A – 0 ° -KSP1:1/2+/3-
Speed Input B Speed input Channel B – 90 ° -KSP1:5/6+/7-
Inputs – DI Status Address
Brake Command Input –
Input 1 NC -KDI1:1/2+
Brake Ramp Parameter set 1
Brake Command Input -
Brake Command Input –
Input 4 Reset ( used to Reset RollBack Alarm) NO -KDI2:5/6+
Start up ramp is activated by closing all 3 brake
command inputs (1,2 & 3)
Output (Status) - RO Status Address
Operation Relay Energised when Braking in progress NO/(NC) -KRO1:1/2/3
Safety Relay Energised when controller OK - -KRO1:5/6/7
[0]: Operational
[1]: Safety
[2]: Rollback (Default)
[3]: Out Of Band
[4]: Limit RPM
[5]: Sensor Failure
Configurable Output 3 [7]: Sensor CH2 Failure NO/(NC) -KRO2:1/2/3
[8]: Gear Failure
[9]: System OK
[12]: No RPM Value
[13]: NoRPMTimer
[14]: OFF
[0]: Operational
[1]: Safety
[2]: Rollback
[3]: Out Of Band (Default)
[4]: Limit RPM
[5]: Sensor Failure
[8]: Gear Failure
[9]: System OK
[12]: No RPM Value
[13]: NoRPMTimer
[14]: OFF
[0]: Operational
[1]: Safety
[2]: Rollback
[3]: Out Of Band
[4]: Limit RPM (Default)
[5]: Sensor Failure
[8]: Gear Failure
[9]: System OK
[12]: No RPM Value
[13]: NoRPMTimer
[14]: OFF
[0]: Operational
[1]: Safety
[2]: Rollback
Configurable Output 6 NO/(NC) -KRO3:5/6/7
[3]: Out Of Band
[4]: Limit RPM
[5]: Sensor Failure( Default)


[8]: Gear Failure
[9]: System OK
[12]: No RPM Value
[13]: NoRPMTimer
[14]: OFF

Appendix – Recommended spare parts
Description Item number

SOBO Controller 6979-0000-001 24V OV 1 5 1 5 1 5 1 5 1 5 1 5 1 5 1 5
Hardwired + ModBus RTU + + 2 6 2 6 2 6 2 6 2 6 2 6 2 6 2 6
- - 3 7 3 7 3 7 3 7 3 7 3 7 3 7 3 7
CV:
STATUS
PE PE 4 8 4 8 4 8 4 8 4 8 4 8 4 8 4 8
RPM:
2022 2022 5151- 1002 1002 2612 2612 2612 9010
0051
SOBO Controller 6979-0000-xxx

Hardwired + ModBus RTU
+ ProfiBus,

+ DeviceNet

+ ModBus TCP/IP

Appendix – Function highlight

Function V 3.2.0.x
The SOBO® Controller has dual speed channel – track

A & B.
This make it possible to:

Speed Input 1: Detect direction.
Both sensors has to be healthy.
2: Redundant speed signal.
The Controller will use the healthy speed input.
Controlled braking can be performed according to
three different profiles.
Profiles can be preset according to specific needs,
Soft Braking completely independently from each other. Profiles are
prioritized.
Braking profiles can be set as complex profiles or as a

simple one segment ramp
Start-up profile can be set as complex 3-stage profile
Soft Start-up or up to three simple 1-stage profiles
Every braking profile can be programmed as Constant

Braking profile modes Time Mode, Constant Deceleration Mode, Fixed Mode
or Constant Distance Mode
Open loop control of the brakes for the last phase of
braking sequence. This is performed according to
Parking Sequence specific needs.
Four segments – fully programmable

Output signals which informs if SOBO performs any
Operation signal action.
Available as fixed RO and also on Configurable RO

Output signal which informs if SOBO hardware is alive
Safety signal (NC relay).
Available as fixed RO and also on Configurable RO
*Rollback Performs – according to specified parameters - specific

action if rollback detected.
*Out Of Band Output signal available to inform if actual RPM is within

programmed band (NO relay)
monitoring
Output signal when actual RPM value is => Limit
*Limit RPM
Output signal available to inform if one of the RPM

*Sensor Failure sensors 1 or 2 failed
Output signal available to inform if RPM sensors 1 fails

*Sensor Failure 1
Output signal available to inform if RPM sensors 2 fails

*Sensor Failure 2
RPM signal is measured on both sides of gearbox gives

*Gear monitoring information in case of gear failure

Function V 3.2.0.x
No warnings = system healthy

*System OK
Output signal available to inform if SOBO ready to

*Roll Back ready detect Rollback
Output signal available to inform if SOBO detects

*Critical Error Critical error
Output signal available to inform if SOBO detects any

*No RPM signal Value speed.
Output signal available to inform if SOBOdetects any

*No RPM Timer speed after time set.
Four relay outputs can be configure according to

Configurable relay
specific needs.
outputs
* Available on Configurable RO
Test Mode Hardware outputs test mode
Load & Save of Default factory parameters can be restored.

Custom parameters can be stored and loaded.
parameters
Different access levels for operators. Changing of some

Access levels parameters requires higher access level – additional
security.
Brake Log Date, time and ramp number of last 10 braking

sequences is stored.
Safety braking is an open loop braking The Safety

Safety Ramp Ramp can be activated via hardware input- Brake
Input 3 and/or activated internal from the controller.
Modbus RTU 485 half dublex
MODBUS interface
Input / Output Monitoring of Input and Output

monitoring in controller
display.

Appendix – Settings
Following form can be used for notation of the settings.
If column SET is empty then value is equal either to project settings specified by customer or to default.
Values shaded should not be changed! (Access Level 2 required)
GROUP VALUE DEFAULT SET

NumberOfRamps 1
NegMaxTorque OFF
NegSOBO®Valve OFF
NegMaxLift OFF
Setup RO3 RollBack
RO4 Out of Band
RO5 Limit
RO6 Sensor Failure
NegRO3,4,5,6 OFF
PPR1 12
PPR2 12
NegDirection OFF
RPM Limit 99999
GENERAL
LimHyst 3
LimitCount 0
NoRPMTimer 10
Delay 0 (OFF)
BrkTime 1000
Rollback CountLevel 99999
MaxTorque OFF
DeactTime 999
GMEnabled OFF
GMRatio 0
GearMon.
DeadBand 10
Delay 100
PWBrk 20
PWLift 40
PFM
MinOff 20
MaxOff 400
MODBUS NODE 41
MODBUS
COM 2 RS232 OFF
SimpleRamp OFF
Y0 0
X0 0
Y1 (Ya) 0
Ramp X1 (Xa) 0
Y2 (Yb) 0
X2 (Xb) 0
Y3 (Yc) 0
START
X3 (Xc) 0
Kp 0.5
Lift Deadband 1
CutOffLv 999
Reg.
Kp 0.5
Brake Deadband 1
CutOffLv 999
HiLimPer 30
LoLimPer 30
OutOfBand ABSLv 0
HiLimAbs 30
LoLimAbs 30

DEFAULT BRAKE1 BRAKE2 BRAKE3

BrkMode 0 (TIME)
SimpleRamp ON
Y0 1000 / 0 / 0
X0 0
Y1 0
X1 10/ 0 / 0
Ramp
Y2 0
X2 0
Y3 0
X3 0
BRAKE1, BRAKE2, BRAKE3
Distance 0
Factor 0
QBrkTIme 0
QuickBrk QBrkLv 0
QBMaxTqValve OFF
0RPM 0
Time1 0
CVLevel1 0
Time2 0
Parking CVLevel2 0
Time3 0
CVLevel3 0
Time4 0
CVLevel4 -100
Kp 0.5
Lift DeadBand 1
CutOffLv 10
Reg.
Kp 0.5
Brake DeadBand 1
CutOffLv 10
HiLimPer 30
LoLimPer 30
OutOfBand ABSLv 0
HiLimAbs 30
LoLimAbs 30
HWSafetyMode OFF
SWSafetyMode OFF
SAFETY
Config
CVRamp 0
MaxOff 1000

Appendix A - Modbus RTU:

RTU
SOBO Modbus RTU
Certified
SVENDBORG BRAKES A/S Denmark

SVENDB
Jernbanevej 9
5882 Vejstrup
Denmark
www.svendborg-brakes.com
This document is the sole property of Svendborg Brakes A/S and may not be copied, given to a
third party or used for unauthorized
authorized purpose.
Svendborg Brakes A/S reserves the right to revise this document without prior notification or
obligation.

Overview
Following document contains only information about bus specific features of the SOBO system. For
general information about SOBO features and maintenance please read the SOBO Controller Users
Manual.
This configuration has been tested with Beckhoff CX9000 (working as
master)
SOBO Controller Customer PLC
Modbus RTU Slave
Modbus RTU Master

SOBO Controller
Customer PLC
RPM
input
Modbus Half duplex ( 2 wire )

input
Modbus Half duplex ( 2 wire )

Modbus connection for SOBO controller:

The SOBO Controller uses Modbus RTU – Half duplex ( 2 wire )
Pin 1. RS485 D+
Pin 6. RS485 D-
D
Modbus RTU address settings for the SOBO controller:

The SOBO Controller comes with default Modbus node adresse: 41
( can be change on the SOBO controller menu)
COM settings for the SOBO controller:

To use Modbus RTU (RS485) COM 2 RS232 has to be set to OFF ( default
setting)

Example of COM settings in Master PLC:

Example of PLC in Master program:

SOBO for Modbus RTU:

SOBO Controller with Modbus RTU interface allows sending/receiving
through bus interface following parameters:
Overview of Master Input values (outputs from SOBO) – Out/ Master-Read
Modbus
Address
(DINT)
16384 SOBO Output DINT Status for Output
16386 RPM DINT Actual speed (RPM) value
16388 SP DINT Setpoint value
16390 CV DINT Controller Value ( Regulator output)
16392 LOG 0 DINT Log 0 ( Latest log)
16394 LOG 1 DINT Log 1
16410 LOG 9 DINT Log 9 ( Oldest log)
Overview of Master Output values (In/Master- Send)
Modbus
Address
(DINT)
16414 Command DINT Brake Command

SOBO Output:
(available both hardwired Output and as Modbus RTU)
Modbus Bit SOBO Output DINT

Address
(DINT)
16384 0 SOBO True when braking is in process Bit Braking
Operational Sequence
1 Safety Output True when controller is OK Bit SOBO running
OK
2 RollBack True when RollBack is detected Bit Rollback
Alarm
3 Out Of Band True when out of band is Bit Out Of Band
detected Alarm
4 Limit1 True when Bit RPM Limit
PV > = Limit1 reached
5 Sensor Failure True when sensor 1 or 2 is Bit RPM sensor
missing failure
6 Sensor CH1 True when sensor 1 Bit RPM 1 sensor
Failure failure
7 Sensor CH2 True when sensor 2 Bit RPM 2 sensor
Failure failure
8 Gear Failure True when Gear failure Bit Gear Failure
9 System OK True when OK Bit System OK
(NOT SafetyOutput OR Sensor

Failure Output OR Gear Failure
Output OR RollBack Output)
10 Rollback Ready Ready for Rollback detection Bit Rollback
Ready
11 Critical Error Critical Error detected Bit Critical Error
12 No RPM Value Zero RPM detected Bit No RPM Value
13 No RPM Timer Zero RPM Value Bit No RPM Value

After time set After time set
14 Bit
15 Bit
16 Bit
… Bit
24 Brake Input 1 Feedback Ramp 1 Bit
27 Reset Input Feedback Reset Input Bit
28 Bit
29 Bit

30 Bit
31 Bit
RPM
Modbus
Address
(DINT)
16386 RPM DINT Speed Value
Set point Value
Modbus
Address
(DINT)
16388 SP DINT Setpoint value Value
Regulator Value
Modbus
Addres
s
(DINT)
16390 CV DINT Controller Value ( Regulator
output)
Log
Modbus
Address
(DINT)
16392 LOG 0 DINT Log 0 ( Latest log)
16410 LOG 9 DINT Log 9 ( Oldest log)

Master Output values (outputs from Modbus RTU – In/Master-Send)
SOBO Input:
(available both hardwired Input and as Modbus RTU)
Modbus Bit Brake DINT

Address Command
(DINT)
16414 0 Ramp 1 False when Bit
Ramp 1 is activated
(Priority 1 – most
important)
1 Ramp 2 False when Bit
Ramp 2 is activated
(Priority 2)
2 Ramp 3 False when Bit
Ramp 3 is activated
(Priority 3)
3 Reset True when reset Bit
4 Bit
5 Bit
6 Bit
7 Bit
8 Bit
9 Bit
10 Bit
11 Bit
12 Bit
13 Bit
14 Bit
15 Bit
.. Bit
31 Bit

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Name: MEE-SOBO-3.2.0.

2022 2022 5151- 1002 1002 2612 2612 2612 9010

MEE-SOBO-3 2 0 x_C Page 1

Modbus connection for SOBO controller:............................................................................ 40

MEE-SOBO-3 2 0 x_C Page 2

1. General • In order to maintain the guarantee always

MEE-SOBO-3 2 0 x_C Page 3

solvent cleaner, and then carefully follow

Svendborg Brakes A/S reserves the right to

proofread for errors in translation and

typographical deviations can sometimes

This document is updated on a regular

1.5 Connections Hydraulic oil

MEE-SOBO-3 2 0 x_C Page 4

If equipped with any electronic

1.8 How to order spare parts

For full identification of the controller please

MEE-SOBO-3 2 0 x_C Page 5

2. The SOBO® Controller Indicates only up, down and enter is

DISPLAY MENU WHEEL

2.1.1 The menu wheel is used for entering /

For the full menu structure please see

The functions in the sub menus will be

MEE-SOBO-3 2 0 x_C Page 6

Priority 1 means that it will override all other

This ramp should always have values

2.4 Program Sequence

In order to use the controller correctly it is

The first block is the Init block – this

If all brake commands are false the Start Up

Giving a Brake Command initiates the

If the braking process needs to be aborted

During the brake cycle the 0 RPM (artificial 0

Once ended the program loops back to the

MEE-SOBO-3 2 0 x_C Page 7

The menu for the start and braking ramp

3.0 Status Monitoring

SW Version / PROJECT NAME: Input 1

Actual software version loaded in the

MAIN INFO (Default) :

Basic info for system shows actual RPM,

MEE-SOBO-3 2 0 x_C Page 8

OUTPUT: 3.1 General settings

Within the General group there are following

Output 0 FIGURE 3.1

Output 0 Operation Output

Logging of the last 10 actions.

Log 0 ( Latest log)

Log 9 (oldest log)

MEE-SOBO-3 2 0 x_C Page 9

[8]: Gear Failure

MEE-SOBO-3 2 0 x_C Page 10

RO3, RO4, RO5, RO6 3.1.2 General / RPM

14 No RPM Timer Zero RPM Value FIGURE 3.4

Proximity switches and the target disc must

NegDirection (Negate Direction)

MEE-SOBO-3 2 0 x_C Page 11

Limit FIGURE 3.6

The Limit value is a threshold which sets a

LimHyst (Limit Hysteresis)

LimitCount (Limit Counter)

If LimitCount is set > 0, the Limit output

Actual activations =>LimitCount