Continental Hydraulics CEM-MS-A User manual

Continental Hydraulics Installation Manual
Page 1 of 15 CEM-MS-A CHI 1013478 Jan 2013
CEM-MS-A
Description:
This closed loop position module provides synchronized motion. It may be applied in pairs, each
module driving a hydraulic cylinder for a “Master-Master” system of synchronized motion. This
pair of cylinders can quickly and accurately move hydraulic cylinder loads in unison. Or, it may
be applied in a “Master-Slave” mode, where up to three “Slave” axis will closely follow the
“Master” axis.
Position and velocity commands are from analog sources. Cylinder feedback is from an analog
source.
Stroke dependent deceleration is used to provide quick and repeatable positioning. Internal ramp
and velocity adjustments allow for easy system tuning.
A wide range of analog signals are accepted. User may select either voltage or current input
mode. These inputs are easily scaled to match system requirements.
Output is an analog voltage, 0 to +/- 10v, suitable for directly driving a proportional directional
valve with on board electronics.
This module is easily adapted to a variety of system requirements. All variables are user adjusted
with easy to use software on your Microsoft Windows laptop. Control variables are stored in non-
volatile memory internal to the module. All variables can be read by the laptop, and reproduced
exactly on other modules.
Technical Data:
Housing
Module Snaps to 35mm DIN Rail EN 50022
Polyamide PA 6.6
Combustability Class
Protection Class
Material
-20 to +60
UL94
CWorking Temperature
Humidity
Storage Temperature
Emission
C
% 95 (non condensing)
-20 to +70
IP 20
V0
Immunity
Electro Magnetic Compatibility
EN 61000-6-2
EN 61000-6-3
Vibration Resistance EIC 60068-2-6
vDC 0 to +10
(Speed Input) Impendance ohm 90k
mA 0 to + 20 (typ 4 to 20)
250
Current
Impendance
Resolution
Sample Time mS
%0.01
1.0
(Speed Input) Voltage
ohm
Power Supply
vDC 12 to 30 (including ripple)
<100mA
3 (medium action)
mA
AExternal Fuse
Consumption
Analog Inputs
Digital Inputs
Digital Outputs
V
V
ohm
Logical 0 = < 2
Logical 1 = > 10
25kImpendance
V
V
Logical 0 = < 2 (50mA max)
Logical 1 = ~ Power Supply
Electrical Connection
Power and Signal
Programming Port
Ground via DIN Rail
RS-232 3.5mm Stero Jack
4 strips with 4 screw terminals each
Analog Output
vDC 0 to +/- 10
Current 5 (max)
Voltage
mA
Resolution % 0.024
vDC 0 to + 10
Impendance ohm 33k
Voltage

Continental Hydraulics Installation Manual
Page 2 of 15 CEM-MS-A CHI 1013478 Jan 2013
Functional Diagram:
15
16
1
Ready
Input
Scaling
Control Program
Command Speed
10
9
8
14
11
Output
Control
+
-
Enable
Ground via DIN rail
Programming Port
RS-232 3.5mm jack
CEM-MS
Feedback Position
+
-
x
k
u
2
In Position (InPos)
7
5
Sync Control Active
Start (Run)
Active = high
Active = high
Active = high
Active = high
Active = high
6
11
Syncronized
Feedback Position
+
-
ws
v
12
Ground
Differential Input on
Control Valve
+
-
3
DC
DC
+12 to 24v
0v
4
Profile
13
11
Command Position
+
-
Control
Synch
xk
Synch
active
w xd
0 to + 10v
or
4 to 20 mA
0 to +10v
0 to +10v
Wiring Example:
5
7
10/9
8
13
14
6
10/9
13
14
6
5
7
8
Speed input (optional)
Position Command
Master position
Slave position
Master
Start/Run
Synch Active
Enable
Start/Run
Synch Active
Slave
Enable
15
16
Differential
Input on
Control Valve
+
-
Power
Supply
3
4
+
-
15
16
+
-
Power
Supply
3
4
+
-
12
1
2
12
1
2
Ready
In Pos
Gnd
Ready
In Pos
Gnd
+24v
+24v
Differential
Input on
Control Valve
LED
LED
Dimensions:
4.5"
3.9" 0.9"

Continental Hydraulics Installation Manual
Page 3 of 15 CEM-MS-A CHI 1013478 Jan 2013
Steps to install and configure a new application:
1. Mount the module in a suitable location
2. Connect the power supply
3. Connect inputs and outputs
4. Adjust analog inputs to voltage or current, and adjust input scaling
5. Adjust analog output to match valve characteristics
6. Adjust ramping and speed parameters
7. Adjust stroke dependant deceleration parameters to tune system performance
8. Adjust internal monitor functions (if desired)
All parameters are adjusted using VEA-USB programming cable and CHI-PC Microsoft Windows
application:
Module Mounting Location:
This module is to be mounted in a cabinet for protection from the local environment.
Ensure there is adequate free space around the module to allow for cooling air flow.
This module is designed to snap onto an industry standard 35mm DIN rail.
Do not mount near other modules that emit high power electrical interference, such as motor
controllers and high power contactors.
Power Supply:
This module is designed to operate on DC power from a regulated power supply ranging from 12
to 30 volts.
A 3 amp medium action fuse is recommended in the “+” power supply line.
Adjust MODE to STD or EXP:
Simple parameters may be adjusted while in STD mode.
EXP mode allows for more complex parameter adjustments.
MODE parameter valid options are STD and EXP. Default is STD.
TS parameter:
TS sets the sample time of the closed loop control system. Valid settings are from 5 to 30 Units
are msec. Default is 10. It is advised to keep this parameter set to 10.

Continental Hydraulics Installation Manual
Page 4 of 15 CEM-MS-A CHI 1013478 Jan 2013
Stroke Dependent Deceleration:
The CEM-MS module uses the position control theory of stroke dependant deceleration. When a
new position is commanded, the initial motion profile is ramped and speed controlled in open loop
mode. As the load travels, it soon gets to a preprogrammed point, termed the braking point. At
the braking point, the module converts to closed loop control, constantly adjusting the speed of
the load, homing in on the final stopping point.
100%
0%
Speed
0% Position 100%
Adjustable Top Speed
Adjustable
Acceleration
Ramp
Adjustable Deceleration
Start Point (Braking Point)
"Square Root"
Deceleration
The main parameters used to control this profile include:
STROKE: load distance.
A:A and A:B: ramping times
VELO: internally controlled velocity
D:A and D:B: Deceleration start point
STROKE defines the full motion. Valid options are 10 to 10000. Default is 100. Units are mm.
A:A and A:B parameters are acceleration (ramp) rates. A:A is the direction of the load connected
to the A work port of the proportional directional valve (+voltage out of CEM-MS Pin 15). A:B is
acceleration of the B port. Valid options are 1 to 5000. Default is 100. Units are msec.
All ramp rates are set via software. All ramps are specified in milliseconds, and are actually “time
to ramp for a 0 to 100% signal change.”
Example: A value of 2000 will give a ramp time of 2 seconds for a VELO parameter of
100% (10000). The ramp time will be 1 second for a VELO parameter of 50% (5000).
100%
01 2 3
50%
0%
4
Time (seconds)
VELO
parameter
(A:A = 2000)
D:A and D:B are the deceleration start points(braking points). Valid options are 1 to 10000.
Default is 10. Units are mm.

Continental Hydraulics Installation Manual
Page 5 of 15 CEM-MS-A CHI 1013478 Jan 2013
Stroke Dependent Deceleration (continued):
System velocity command can be either external or internal.
VS can be set to either INT or EXT. INT is default.
INT requires the speed to be set with the VELO parameter.
VELO valid values are 0 to 10000. Default is 10000(100%). Units are 0.01%
EXT uses the 0 to 10v analog voltage at pins10/9 to command speed.
This speed signal may be ramped with the VRAMP parameter.
VRAMP valid values are 1 to 5000. Default is 50. Units are msec.
Deceleration characteristic is controlled by the CTRL parameter.
CTRL valid options are LIN, SQRT1, and SQRT2. Default is SQRT1.
SQRT1 gives the best performance for most systems. SQRT1 balances quick motion control with
accurate final position holding.
SQRT2 increases the gain at the final position, which may provide more precise load holding.
This higher gain may introduce final position instability.
LIN gives the most stable option, but requires more time to complete the motion profile.
100%
0%
Speed
0% Position 100%
Deceleration
Start Point D:A
LIN
(gain ~1)
SQRT1
(gain ~ 3)
SQRT2
(gain ~ 5)

Continental Hydraulics Installation Manual
Page 6 of 15 CEM-MS-A CHI 1013478 Jan 2013
Synchronization Control:
A two axis system may be configured as either “Master – Master” or “Master – Slave”.
“Master – Master” averages the synchronization error between the two cylinders.
Command Valve Cylinder
Position
Valve Cylinder
Position
Enable
Run
GL Active
8
7
5
Enable
Run
GL Active
8
7
5
13
14
6
15/16
14
6
13
CEM-MS
"Master"
CEM-MS
"Master"
15/16
Up to four axis may be synchronized in the “Master – Slave” mode.
“Master – Slave” control theory will always have the slave “following” the master.
Valve Cylinder
Position
Valve Cylinder
Position
Valve Cylinder
Position
Valve Cylinder
Position
Command
CEM-MS
"Master"
CEM-MS
"Slave"
CEM-MS
"Slave"
CEM-MS
"Slave"
Enable
Run
No Connection
8
7
5
13
14
6
15/16
Enable
Run
8
7
13
14
6
15/16
GL Active 5
No Connection
Enable
Run
8
7
13
14
6
15/16
GL Active 5
Enable
Run
8
7
13
14
6
15/16
GL Active 5

Continental Hydraulics Installation Manual
Page 7 of 15 CEM-MS-A CHI 1013478 Jan 2013
Synchronization Control (cont):
Synchronization control function diagram:
Input
Scaling
Position Command Ramp
CEM-MS Synch
+
-
Synch Feedback
+
-
w
x
Axis Control
A:A A:B
D:A D:B
-
Axis Feedback
+
-
-
k
xd
xk
u
Synch Control
GL:P
GL:T1
GL:P and GL:T1 parameters:
GL:P sets the synchronization gain. As with the basic single axis control, reducing the braking
distance will increase the system gain, but has the potential to promote instability. Smaller values
will give smaller synchronization errors. GL:P is input as a distance in mm. Valid range is 1 to
10000. Default is 2.
GL:T1 is used as a time delay to stabilize highly dynamic systems. GL:T1 has the units of
milliseconds. Valid range is 1 to 200. Default is 10.

Continental Hydraulics Installation Manual
Page 8 of 15 CEM-MS-A CHI 1013478 Jan 2013
Adjust module output to match valve requirements:
The CEM-MS module has a 0 to +/-10v differential output. This output is designed to directly
interface to proportional valves with on board electronics.
This output signal may be configured to more closely match the valve characteristics. The
parameters used to adjust the output signal include:
MAX:A and MAX:B
MIN:A and MIN:B
TRIGGER
MAX:A and MAX:B are set with software as a percentage of the native +10v output. MAX:A and
MAX:B are set at 100% (10000) for a valve that has a 10v input rating. To reduce the maximum
flow from a valve with a spool that is too large, set MAX to a number less than 100%. Valid range
is from 5000 to 10000. Default is 10000. Units are 0.01%
MIN:A and MIN:B are adjusted via software for the purpose of deadband elimination. A valve
with a minimum control point (cracking point) will give best performance if this deadband is
eliminated. Valid range is 0 to 5000. Default is 0. Units are 0.01%.
Example: A directional control valve has an input range of 0 to +/-10v. The valve is
factory calibrated to begin flow at 1v, and max flow is at 10v. Adjust the CEM-SA parameters:
MAX:A = 10000 (100% of +10v)
MIN:A = 900 (9% of 10v = +0.9v)
MAX:B = 10000 (100% of -10v)
MIN:B = 900 (9% of -10v = -0.9v)
Min A =
% of Range
Max A =
% of Range
Voltage Output + 10v
Trigger = % of Output
Module output +100%
Module output - 100%
Min B =
% of Range
Max B =
% of Range
Voltage Output - 10v
TRIGGER and MIN can be used together to optimize valve performance near zero.
When using a proportional valve with an overlap spool, adjust TRIGGER to 200 (2%), and MIN:A
and MIN:B to slightly less than the “crack point” of the valve.

Continental Hydraulics Installation Manual
Page 9 of 15 CEM-MS-A CHI 1013478 Jan 2013
Adjust module output to match valve requirements (continued):
When using a proportional valve with an underlap spool (“zero” lap), the flow gain in the area of
the underlap is about double that outside the underlap area. Adjusting TRIGGER and MIN:A and
MIN:B as suggested will give more stable results.
Example: Adjust TRIGGER to 200 (2%) and MIN:A and MIN:B to 100 (1%). These
settings reduce the flow gain in the underlap region, and usually allow for a shorter
braking distance (D:A and D:B). This scheme gives quick motion, with stable load
holding.
Min A
Max A
Voltage Output + 10v
Trigger
Module output +100%
Module output - 100%
Min B
Max B Voltage Output
- 10v
Choosing between overlap spool and underlap spool proportional valves:
There are performance tradeoffs in choosing an overlap spool valve vs. an underlap
spool valve:
An overlap spool valve will do a better job of holding the load in a static condition. An overlap
valve can be commanded to go to center. In this center condition, the valve port-to-port leakage
is lowest. When trying to hold a load at a fixed position with the control system inactive, the
overlap valve in a centered condition will allow a smaller amount of port-to-port leakage.
A negative feature of a overlap spool valve is the time delay in electronic deadband elimination.
An overlap spool valve needs time to jump back and forth across the deadband during the near
zero flow portion of the motion profile. This time delay will show up as slower response to
external forces moving the load from the commanded position.
Adjusting the deadband elimination feature may be time consuming.
The underlap spool valve does not lose time jumping across the deadband area. The high flow
gain in the underlap region provides small active position holding errors. There is an energy cost
penalty in choosing the underlap spool, due to the port-to-port leakage in the center position.

Continental Hydraulics Installation Manual
Page 10 of 15 CEM-MS-A CHI 1013478 Jan 2013
Command input with Voltage:
An analog source voltage may be either “differential” or “ground referenced”. The CEM-MS
accepts an analog position command and feedback inputs that are ground referenced. The
optional velocity command input is a differential input. Examples are shown for position
command only, feedback signals are wired to pin 14(+) and pin 11 (GND) and to pin 6 (+) and pin
11 (GND).
13
11
+24v 3
4
Power Supply
Gnd
Line
AC
DC
Position Command
Analog Voltage Source
"Ground Referenced Voltage"
(PLC, Digitial Motion
Controller, etc.)
+
-Gnd
An external position command voltage source must be referenced to ground for proper operation.
13
11
+24v 3
4
Power Supply
Gnd Line AC
DC
(Gnd)
0v
+10v potentiometer
( 5k ohm typical)
Gnd
External
Voltage
Reference
Position command
The speed command input accepts differential voltage.
10
9
+24v 3
4
Power Supply
Gnd
Line
AC
DC
Speed Command
Analog Voltage Source
"Differential Voltage"
(PLC, Digitial Motion
Controller, etc.)
+
-
Gnd
A ground referenced speed command must be referenced to the CEM-MS ground.
10
9
+24v 3
4
Power Supply
Gnd
Line
AC
DC
Speed Command
Analog Voltage Source
"Ground Referenced Voltage"
(PLC, Digitial Motion
Controller, etc.)
+
-Gnd
4