Introduction The Bosch Servo Analog Summing Card is used for position and velocity control in electrohydraulic closed loop systems (for pressure control use P/Q amplifier cards). It serves as the systems summing junction for closing the loop. Overall gain can be adjusted fon the card to optimize system performance. Built-in features are provided to improve set-up, operation and performance. This card is used in conjunction with Bosch Servo Solenoid Valves and Valve Amplifier Cards (Amplifier Cards with ‘or without front pane BOSCH ..... INSTALLATION eoee ween SERVO ANALOG SUMMING CARD for Electrohydraulic Closed Loop System Features * Eurocard format with front panel (Potentiometer adjustments, test points and LED indicators are accessible at the front panel). * Switch selectable position and velocity modes of control * Accepts wide range of input signals {0 -10V, 0 -5V, 4-20 MA and combinations there of) * Buffered differential inputs (rejects electrical noise) * Set-point ramping (rate of travel in position mode, acceleration and decel eration in velocity mode). * Cable break monitoring for set-point and feedback signals (LED indicators, and fault signal control), + On-board reset contro! (integrator reset in volocity mode) ‘+ +1 18V power is supplied from the associated amplifier card (saves cost of extra power supply). "Bent" proportional characteristics (provides enhanced resolution and positioning accuracy) * Complete rack package for both, summing card and valve amplifier card (optional) Designation ‘Servo Analog Summing Card wt 3 Ka (.7 Lbs) | Part Number 9.536 235 000 wocceServo Analog Summing Card Specifications P.C.0. FORMAT 100 x 160 x APPROX, 95 MM (W ¥ Lx) Eorope Format wit Front Panol 7HP Spacing (1H = 0.2") Pug Connector DIN 41612.F90 oacaes Proportional Gin Range 25-120 VIV (010 5% Signal Range) (CBent™ Charteris) 115-75. VIV (6 0 25% Signal Range) 1-80 _VIV (25 0 100%Signal Range) | negra Gain Range 1-45 ViV.c00 _ = Input impedance 126 and b3; 100K ohms (250 Ohms for 4-20 MA) ____| 228 ane 2241004 ohms (250 Ohms for 4-20 MA). Input Signal Range ‘0-10, 0-8V, 4-20 MA {and combinations thereof, + oF ~ polarities) Output Votage 214: = ¥/- 109 (Clampod) Output Curent a _ Temperature Range degrees C (2-188 degrees F) rit due to Tenporiure (05 Mvidegree C (0.8 MVidegree Dri due toVokage Supply | 0.007 VV Frequency Response '3.dB down at 1000 He a Linearity Lose than 0.1% of Full Saale Hysteresis Less than 0.05% of Ful Seale PPowor Requreronts 280: + 15 VDC +/- 5% (00 MA) b20:” 15 VDC +/-8% (@ Ma) (Gvalabe from associated amplifier) Ramp Times 240 200 ms, 150 ms to 2 secs. (Max. nos for O—10V a 222) (ranges, switch selectable) | (1 slope and - lope coparatly adjustable) Cable Broak Faut 12 and B32: Faut = Open Catector Input ‘Sana Inaut 100 MA (mas) sinking 24 V (max) [No aut = + 15V (oss than 1 MA current sous) Integrator Reset ‘6: On = s3V 10 18 Irput Signal Off= 08VI0—18V eee {18K Ohm Input impedance) Poteniometar Adjustments | VR&: Zero Tam (+l-2V) Setpoint Signal RO: Zero Trin 1-2) Feedback Signal RI: Seal (41 ~ 14) So point Signal \VR2: Proportional Gain (1-120 IV) Vout/Vin LVRS: Otfct (+ 1V) Output Signa Ra: Ramp + Slope (2 me ~2 see) Setpoint Signal LVRS: Ramp ~Shopo (2 ms 2 soc) Setpoint Signal ‘Switch Selacabla Setings | SWIA: Position Contl (x) Velosty Control 'SW1B: 0-10V Set paint Signal or) 4-20 MA Set point Signal 'SW2A: 0-10V Feedback Signal (ot) 4-20MA Feedback Signal 'SW2B: 2-20 MS Ramp Range (*) 150 MS-2 s0o. Ramp Range “Tost Points on Front Panel | TP: Setpoil Signal (at 16) TP2:Focdback Sal (at 220) ‘TPS: Valve Signal (at 214) ‘TP&: Ref. Ground (at 28) {fest ports are080" (2 mn) a. fo standard tip pl) LED Dicplays LED 2: Yellow: Set pont Cable Breok Faut ~ exopuct uitRATOR DREN LLEDI: Yolow: Feedback Cabo Broak Faut [PRODUCT LITERATURE DISCLAIMER] ‘SPECIFICATIONS ANDIOR Iemportant: DIMENSIONS ARE SUBJECT TO ‘Cablo Break Fut signals and reset signals must have the sams DC common point asthe suring (CHANGE WITHOUT PRIOR NOTICE ‘card to avoid ground loop. PLEASE CONSULT FACTORY.Servo Analog Summing Card Set-Up Procedure General Notes: * Initial set-up should be made with ‘output (214) disconnected to pro- vent accidental machine movement due to any misadjustments. * All wires should be shielded type to prevent EMI and RFI interfer- tence. Shields should be grounded at one end only — at the signal source ground. * To assist setup a voltmeter and/or oscilloscope can be used to monitor the test points. * A test adapter (B830 303 214) pro- Vides easy access to all terminals (summing card and amplifier card). 1, Setup the switches on the board per feedback and command signal source requirements (refer to the circuit diagram or silk screened directions on the summing board), 2. Select the position or velocity control mode (switch SW1A). 3. Wire +/— 18V power and ground a8 follows: Noto: Bosch amplifier cards (used with servo solenoid valves) have on board +/-15V supply. a. Connect +15V at terminal 230, b. Connect -15V at terminal b30 cc. Connect ground (OV) of power source to one of the summing cards ground terminals 228, b20, b14 or b12. (The power source ccan be from the amplifier card or from a separate source.) 4, Connect setpoint and feedback input devices as follows: a. Connect set-point signal wires to terminals 226 and 224. 1.If signal is positive; connect (+) signal wire to 226 and connect (OV) signal wire to 224, 2.1f signal is negative; connect signal wire to 224 and ‘connect (OV) signal wire to 226. b. Connect set-point signal output at 212 to summing junction input at z18. 1. If ramps are to be utilized; con- rect 212 to ramp input at 222 and connect ramp output at 28 to summing junction input atz18. c. Connect feedback signal wires to terminals b26 and b24. 1. 1f signal is positive; connect (+) signal wire to b26 and connect, {(0V) signal wire to b24. 2.f signal is negative; connect (Q signal wire to b24 and con- nrect (OV) signal wire to b26. 4d. Connect feedback signal output at b28 to summing junction input at 220. 5. Connect summing Card output at terminal 214 to one of the amplifier cards differential input terminals (depends on control “sense"). Connect the other differential input (OV) to any one of the summing cards ground terminals 228, 620, bi4 orbi2. Note: If the amplifier card does not have differential inputs, and the power supplies are separate, they should have a common DC ground in order to prevent ground loops. 6. 10. Adjust feedback device mech- anically or electrically to align zero position. (Voltage at test point TP2 should OV if signal is 0-10V or TP2 should be at 1V if signals 4-20 MA) Provide minimum set-point signal (Voltage at test point TP1 should be OV if signal is 0-10V or TP1 should be at 1V if signal is 4-20 MA) Note: If feedback and set-point signals are different (.e., 0-10V and 4-20 MA), then adjust zero pots (VR6) and/or (VR7) to achieve OV at both TPY and TP2. With the set-point and feedback equal there should be OV at the output (OV at TP3). Adjust offset pot (VR3) if necessary, to achieve OV at TPS. Make sure that the set-point is min ‘mum and tum on the hydraulics. Increase set-point signal to maximum and adjust scale (VR1) to match the range of the feedback (span). Measure the set-point and feod- back at TP1 and TP2 respectively. Note: Increase set-point with caution to prevent over travelServo Analog Summing Card 1340) NNN WHOIS ONAL WARSSSSAON STN ANS. Oo (waz r104.Noo NaS Se sind eNO anne ie a--=-Os TAOS | lgwonyr five Soe owen oe tnaino wis 10ND youve Ss Sindy eNOS vovousss wavod asnains eat baie ~~ Car quewubissy jewel pue wesBbeig 401gServo Analog Summing Card ‘e192 pu czz-z12 Susanne GOV “TOXLNOD ALIDOTAA HOS AINO G3SN++ :03SN SI ONIdNVe aI "NMOHS dVe ON+ aevna (2 ~ a = Wee STEW ae oe Wasa revo 4+ GIONS10S- a aa (WINO&-P 'AOL-O) ‘Ons3S a wed lunaino So7wNY) a 2 me pote - oo Nepaea ae aaa a: AST IG 082 ea (WINOZP ‘AOI-O) (ULNdLNO SOTWN AGA wes (7 _ ssozosossas [San + AO Aldds 43MOd ‘OaAPz HOSOB J a ‘ownozi | 4 (210 98% ¥e8!) SHACTOH GuvO. NI GBLNNOW Suv SCHVO ‘3LON (ATA GIONSTOS OAYAS HOS TWOIdAD wesBeIg uo aUuU0DServo Analog Summing Card Switches Locations & Dimensions 1378 Adjustment amp Stops Adjustment amp *Siop Adustmeat Ofte Valve Signal Adustment re San 0 Adlustment Seaie 6 | Test Point Test Point Test Point Yate Spr Test Point et Grouna x02 Cetow SetPoint Cable Grek LED! (eton) Feedback cable Grea ‘900008; es) ry cowry Sitch R= Voocty Cont Reasons vn) Austmont Short Zero (Swap) Suite (sw20) Switen Rams Switches & Adjustments SW1A Selects integrator (velocity ‘mode) when switched to right. Selects proportional amplification (position ‘mode) when switched to left. SW1B Selects 4-20 MA input for ‘command signal input when switched to right. Selects 0-10V CMD signal input (or 0-5V) when switched to left. SW2A Selects 4-20 MA input for feedback signal input when switched to right. Selects 0-10V feedback signal input (or 0-8V) when switched to let SW2B Selects 20-200 MS ramp time range when switched to right. Selects 150 ms ~ 2 sec ramp time range when switched to left VR Scale adjustment for scaling the sot point signal to match the range ofthe feedback signal (span). Ratio = 4:1— 1:4 VR2__ Gain control for overall output (sensitivity). 1-120V/V V3 Ofet contol for ning err TP3_Test point for output votage due to a constant external disturbance (valve signal) at 214. or cart folowing ove wie he positon mode. Adjusimert for zero TPA, Test pit frre. ground vt velocity in the velocity mode (with reset 99° 82 mand aso command gah s1V" Factor Adjustment Seings VR4 —_Ramping stage positive slope adjust. Acceleration in the velocity mode, positive direction velocity control in the ‘Test points TP1, TP2, TP3 = OV with inputs grounded, position mode. toe VRS —_Ramping stage nogative slope * Gain= 11 agjust. Deceleration in the velocity mode, _—_-* Ramps are adjusted to min. negative direction velocity control in the position mode. VR6—_Set-point zero adjust. For nulling input offset due to 4-20 MA signal. +2V VR7 Feedback zero adjust. For nuling input offset due to 4-20 MA signal. 22V 11 at z18, TP2 at 220. Test point for set-point voltage Test point for feedback voltage + Switches are set to the left for: #00 10V input signal range (command and feedback) + 2.800. ramp range * position contro! modeServo Analog Summing Card 11. With the system operating, adjust gain (VR2) to provide maximum system response without exces- sive overshoot or oscillation. For ‘optimum resuts the sot point at TP2 and the feedback at TP1 should be monitored with an osciloscope. The following figures show how varying the gain will effect posi- tioning and velocity response. 12, The offset (VR3) may require fine adjustment (tweaking) to minimize errors due to a constant external {force or constant following error. Note: The zero adjust on the ampl- fier card could also be used for this same purpose if available. Optimal Gain Adjustment Position Control doa Tanstion Gain Too High Sect Koop Soot Ko Seat Gan To Low Sac Kye Seat OSCILISCOFE TRACES Pt Se = Set pont sig ot est pork Et Compe) . TP2 «Feediack srl alot pate = Folowiog err 2 Velocity Control eat Tanstion Gain To High 1p Kyopt Gain To Low ve | 11 OSCILLISCOPE TRACES. “8 PI = Setpoint signa at ost pont (Pt fampad) ondback signal at test pom TP? 12Servo Analog Summing Card A CAUTION: ‘Start-Up Sequence should be enabled, Te avoid uncontrolled movement of the load during start-up and shut-down, the follow= ing on/off sequences should be followed: ‘* Before turning on the Hydraulics — the setpoint at TP1 and the feedback at TP2 should be equal (the input to valve ampli- fier at TP3 = OV). The valve amplifier Shut-Down Sequence ‘* Before turning off the hydraulics — the load should be at the OV Position (TP1, TP2, & TP3 = OV) * After turning off the hydraulics the valve amplifier should be disabled, *For emergency shut-downs additional ‘check valves, isolation valves, or mechani ‘cal clamps should be considered. 19835 283 770 HPUS UBY o13/12-1 US (5.95) ROBERT BOSCH FLUID POWER CORFORATION P.O. BOX 2025 RACINE, WISCONSIN 53401-2025 US.A. Phone (414)564-7 100, Fax (414)864.7117 BOSCH