Duplomatic Oleodinamica EWM-SP-DAD/20E Installation and operation manual

89445/117 ETM
EWM-SP-DAD/20E
Profinet Interface
Digital Card
Start - up manual
Duplomatic Oleodinamica Spa

Start-up Manual
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Duplomatic Oleodinamica S.p.A. All rights reserved.
Table of contents
GENERAL INFO................................................................................................................................................... 4
Contacts..................................................................................................................................................... 4
1.1 Safety instructions............................................................................................................................. 5
1.2 Characteristics ................................................................................................................................... 6
1.3 Device description ............................................................................................................................. 7
2 Use and application ................................................................................................................................... 8
2.1 Installation instructions ..................................................................................................................... 8
2.2 Typical system structure.................................................................................................................... 9
2.3 Method of operation....................................................................................................................... 10
2.4 Commissioning ................................................................................................................................ 12
3 Technical description............................................................................................................................... 14
3.1 Input and output signals.................................................................................................................. 14
3.2 LED definitions................................................................................................................................. 15
Left side ................................................................................................................................... 15
Right side ................................................................................................................................. 15
3.3 Block diagram .................................................................................................................................. 16
3.4 Typical wiring................................................................................................................................... 17
3.5 Technical data.................................................................................................................................. 18
4 Parameters .............................................................................................................................................. 19
4.1 Parameter overview ........................................................................................................................ 19
4.2 Command Description Standard ..................................................................................................... 21
MODE (Switching between parameter groups) ...................................................................... 21
LG (Changing the language)..................................................................................................... 21
4.3 SYSTEM Parameter .......................................................................................................................... 22
SENS (monitoring of the module functions)............................................................................ 22
EOUT (Output signal: READY = OFF) ........................................................................................ 22
4.4 INPUT (Adjustment of the sensor signals)....................................................................................... 23
SYS_RANGE (Working stroke).................................................................................................. 23
N_RANGE:X (Nominal range of the sensor)............................................................................. 23
OFFSET:X (Sensor offset) ......................................................................................................... 23
Using of the commands SYS_RANGE, N_RANGE:X and OFFSET:X........................................... 24
SELECT:X (Position sensor type) .............................................................................................. 24
SIGNAL X (Type of input signal) ............................................................................................... 25
SSI:POL (Signal direction)......................................................................................................... 25
SSI:RES (Signal resolution) ....................................................................................................... 25
SSI:BITS (Number of data bits)................................................................................................. 25
SSI:CODE (Signal coding).......................................................................................................... 26
SSI:ERRBIT (Position of the “out of range” bit)........................................................................ 26
PS_RANGE (System pressure).................................................................................................. 26
ARATIO (Cylinder area ratio) ................................................................................................... 26
N_RANGE X1/X2 (Nominal range of the sensor) ..................................................................... 27
SIGNAL X1/X2 (Type of input signal)........................................................................................ 27
4.5 POSITION (parameter for positioning) ............................................................................................ 28
HAND (Manual speed) ............................................................................................................. 28
POSWIN:S (In position monitoring) ......................................................................................... 28
POSWIN:D (Dynamic position monitoring).............................................................................. 28
VMODE (Method of positioning) ............................................................................................. 29
Control structure in SDD mode ............................................................................................... 29

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VRAMP (Ramp time for external speed demand) ................................................................... 30
A (Acceleration (ramp) time in SDD mode) ............................................................................. 30
D (Deceleration / braking distance)......................................................................................... 30
Control structure in NC mode ................................................................................................. 31
ACCEL (Acceleration in NC mode)............................................................................................ 31
VMAX (Maximum speed in NC mode)..................................................................................... 31
V0:RES (Scaling of the loop gain)............................................................................................. 32
V0(Loop gain setting)............................................................................................................... 32
V0_AFC (loop gain with active acceleration feedback) ............................................................ 32
FF (Feed forward in NC mode)................................................................................................. 33
AFC:P (Gain of the acceleration feedback).............................................................................. 33
AFC:T1 (Filter time for acceleration feedback)........................................................................ 33
PT1 (Timing of the controller) ................................................................................................. 34
TRL (Deceleration characteristics) ........................................................................................... 34
4.6 PRESSURE (Parameter for the pressure control)............................................................................. 35
PRESSWIN (Pressure window) ................................................................................................. 35
RA (Command signal ramp time)............................................................................................. 35
P_OFFSET (Feedback offset) .................................................................................................... 35
C1/C2 (PID control parameters) .............................................................................................. 36
4.7 OUTPUT (Parameter for the output adaption)................................................................................ 37
MIN (Deadband compensation) .............................................................................................. 37
MAX (Output scaling)............................................................................................................... 37
TRIGGER (Response threshold for the MIN parameter).......................................................... 37
OFFSET (Valve zero point adjustment).................................................................................... 38
SIGNAL:U (Type and polarity of the output signal) ................................................................. 38
Drift compensation / high accurate positioning...................................................................... 39
DC:AV (Activation value) DC:DV (Deactivation value) DC:I (Integrator time ) DC:CR (Integrator
limitation) ................................................................................................................................................ 40
PROCESS DATA (Monitoring) ................................................................................................... 41
5 Appendix.................................................................................................................................................. 42
5.1 Failure monitoring ........................................................................................................................... 42
5.2 Troubleshooting .............................................................................................................................. 42
5.3Status Information........................................................................................................................... 44
6 PROFINET IO RT interface........................................................................................................................ 45
6.1 PROFINET IO function...................................................................................................................... 45
PROFINET address assignment .................................................................................................................... 45
6.2 Device data file (GSDML) ................................................................................................................. 45
6.3 Description of the Fieldbus interface .............................................................................................. 46
6.4 Input from Fieldbus ......................................................................................................................... 50
Command overview................................................................................................................. 50
Definition Control word 1 - Bits............................................................................................... 51
6.5 DATA to Fieldbus ............................................................................................................................. 53
Overview (feedback)................................................................................................................ 53
Definition status word ............................................................................................................. 54
6.6 Parameterization via Fieldbus ......................................................................................................... 56
How to use this function.......................................................................................................... 56
Table of Parameters ................................................................................................................ 57

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Duplomatic Oleodinamica S.p.A. All rights reserved.
GENERAL INFO
This manual displays information about the digital card EWM-SP-DAD series 20 used for
positioning or synchronization control of hydraulic axes with Profinet communication interface.
Identification code: EWM-SP-DAD/20E-PN
by Duplomatic Oleodinamica S.p.A.
Should you have any questions concerning just the card, please contact Duplomatic Oleodinamica
S.p.A., indicating the description, the code and the serial number written in the label on case side.
Other useful literature about EWM-SP-DAD/20E-PN and its start-up can be found in:
Technical catalogue 89445-ED edition 117
Software pack EWMPC/20
For installation, start-up, commissioning and maintenance use only skilled workers and materials
fit for purpose, as recommended.
Before installation read this file and follow strictly what is indicated.
Duplomatic Oleodinamica disclaims any liability for damage to person or property resulting from
noncompliance of rules and instructions here declared, from misuse or incorrect use or from
tampering of provided cards.
Contacts
Duplomatic Oleodinamica S.p.A.
via Mario Re Depaolini 24
I-20015 Parabiago (MI)
ITALY
tel. number: +39 0331.895.111
fax number: +39 0331.895.249
e-mail: [e-mail]
http://www.duplomatic.com

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1.1 Safety instructions
Please read this document and the safety instructions carefully. This document will help to define
the product area of application and to put it into operation. Additional documents (EWMPC/20 for
the start-up software) and knowledge of the application should be taken into account or be
available.
General regulations and laws (depending on the country: e. g. accident prevention and
environmental protection) must be complied with.
These modules are designed for hydraulic applications in open or closed-loop control
circuits. Uncontrolled movements can be caused by device defects (in the hydraulic
module or the components), application errors and electrical faults. Work on the drive
or the electronics must only be carried out whilst the equipment is switched off and not under
pressure.
This handbook describes the functions and the electrical connections for this electronic
assembly. All technical documents which pertain to the system must be complied with
when commissioning.
This device may only be connected and put into operation by trained specialist staff.
The instruction manual must be read with care. The installation instructions and the
commissioning instructions must be followed. Guarantee and liability claims are invalid if
the instructions are not complied with and/or in case of incorrect installation or inappropriate use.
CAUTION!
All electronic modules are manufactured to a high quality. Malfunctions due to the
failure of components cannot, however, be excluded. Despite extensive testing the same
also applies for the software. If these devices are deployed in safety-relevant
applications, suitable external measures must be taken to guarantee the necessary safety.
The same applies for faults which affect safety. No liability can be assumed for possible damage.
Further instructions
•The module may only be operated in compliance with the national EMC regulations.
It is the user’s responsibility to adhere to these regulations.
The device is only intended for use in the commercial sector.
•When not in use the module must be protected from the effects of the weather,
contamination and mechanical damage.
•The module may not be used in an explosive environment.
•To ensure adequate cooling the ventilation slots must not be covered.
•The device must be disposed of in accordance with national statutory provisions.

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1.2 Characteristics
This electronic module was developed for controlling the position and/or pressure of a hydraulic
axis via the integrated ProfiNet fieldbus interface.
The hydraulic axis can be driven as positioning control with digital stroke measuring (SSI interface)
or by analogue sensors.
Additionally, an integrated pressure limitation control function for one or two pressure sensors
(differential pressure) is implemented. Command signals and actual values are transmitted by a
ProfiNet communication interface. Feedback are status information and actual values.
Proportional valves with integrated electronics (typically control valves) can be driven by the
analogue output.
Internal failure and the system statuses are monitored. The ready output is available as a fieldbus
information and parallel as a hardware output.
The parameterization is performed via a USB interface in combination with our PC program
EWMPC/20. Alternatively, defined parameters can be modified via the ProfiNet interface.
Typical applications: general positioning drives, fast transport drives, handling systems, speed-
controlled axes and presses with positioning and pressure control.
Features
•ProfiNet for command values, sensor values, control word and status word
•SSI- or analogue feedback sensors (0… 10 V or 4… 20 mA)
•Resolution up to 1 µm (SSI - interface)
•Speed resolution 0,005 mm/s
•Positioning modes are: stroke-dependent deceleration or NC mode with internal profile
generator
•Profiling of the movement with two positions and two speeds
•Alternatively continuous command signal transition
•Differential pressure limitation control or direct pressure control
•Expanded closed loop control functions:
•PT1 filter
•Drift compensation for optimal zero-point adjustment
•Accurate positioning by compensation of force depended positioning deviations
•Feed forward to reduce the following error
•Acceleration feedback by measuring the differential pressure (used to improve the dynamic
behavior in case of low dynamics drives)
•Optional: with integrated start-up assistant
•Usable with overlapped proportional valves and with zero lapped control valves
•Fault diagnosis and extended function checking
•Simplified parameterization with EWMPC/20 software

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Device description
1 Din Rail Clip
2 USB interface
3 LEDs
4 Fieldbus ports

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2Use and application
2.1 Installation instructions
This module is designed for installation in a shielded EMC housing (control cabinet). All cables
which lead outside must be screened; complete screening is required. It is also necessary to avoid
strong electro-magnetic interference sources being installed nearby when using our open and
closed loop control modules.
Typical installation location: 24 V control signal area (close to PLC)
The devices must be arranged in the control cabinet so that the power section and the signal
section are separate from each other.
Experience shows that the installation place close to the PLC (24 V area) is most suitable.
All digital and analogue inputs and outputs are fitted with filters and surge absorbers in the device.
The module should be installed and wired in accordance with the documentation bearing in mind
EMC principles. If other consumers are operated with the same power supply, a star-shaped
ground wiring scheme is recommended. The following points must be observed when wiring:
•The signal cables must be laid separately from power cables.
•Analogue signal cables must be screened.
•All other cables must be screened if there are powerful interference sources (frequency
converters, power contactors) and cable lengths > 3 m. Inexpensive SMD ferrites can be used
with high-frequency radiation.
•The screening should be connected to PE (PE terminal) as close to the module as possible. The
local requirements for screening must be taken into account in all cases. The screening should
be connected to at both ends. Equipotential bonding must be provided where there are
differences between the connected electrical components.
•If having longer lengths of cable (> 10 m), the diameters and screening measures should be
checked by specialists (e. g. for possible interference, noise sources and voltage drop). Special
care is required if using cables of over 40 m in length, and the manufacturer should be
consulted if necessary.
A low-resistance connection between PE and the mounting rail should be provided. Transient
interference is transmitted from the module directly to the mounting rail and from there to the
local earth.
Power should be supplied by a regulated power supply unit (typically a PELV system complying
with IEC364-4-4, secure low voltage). The low internal resistance of regulated power supplies gives
better interference voltage dissipation, which improves the signal quality of high-resolution
sensors in particular. Switched inductances (relays and valve coils) which are connected to the
same power supply must always be provided with appropriate overvoltage protection directly at
the coil.

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2.2 Typical system structure
This minimal system consists of the following components:
(*1) Proportional valve with integrated electronics
(*2) Drive (e.g. hydraulic cylinder)
(*3) Sensors for position (SSI or analogue) and pressure
(*4) EWM-SP-DAD-PN control module
(*5) Interface to PLC
Position
control
Fieldbus
Position
Analogue or SSI
Pressure (differential pressure)
or force feedback
Pressure
control
Valve
PLC with Fieldbus
*1
*3
*4
*5 *2
*3

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2.3 Method of operation
This module is a combined system of position control and pressure control. The standard
communication via fieldbus simplifies the wiring. The EWM-SP-DAD can be used as a universal axis
controller for hydraulic drives. Because of a second position and a second velocity, it is optionally
possible to drive to target position with the corresponding speed (rapid traverse and creeping
speed respectively creeping speed and rapid traverse)
Positioning: the axis can be used as point to point controller (stroke depended deceleration) as
well as in NC mode. With only a few parameters the controller can be optimized, the movement
profile is preset via Fieldbus (position and velocity).
Because of the input of a second position and speed, the axis can be driven to this position with
the second velocity. This mode is only activated when the velocity command value 2 is not equal
to zero. The following features have to be noticed:
•The target position is command value P2 combined with velocity V2.
•The position with the position setpoint 1 is the switching position that is approached with
speed 1 and then switches to speed. 2
•The switch from a low to a high velocity is performed at position setpoint 1 on the
acceleration ramp, see below.
•If the positioning command value P2 is between the actual and the command value position
P1, position P2 can only be driven with speed V1.
time / position
velocity
P1
P2
V1
V2
acceleration
P1
P2
V1
V2
acceleration deceleration
High to low speed
Lowto high speed
velocity
time / position
deceleration

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Influences on positioning accuracy:
The positioning accuracy is determined by the hydraulic and mechanical conditions.
The right choice of valve is therefore a decisive factor. In addition, two mutually contradictory
requirements (short position time and high accuracy) must be taken into account when designing
the system.
The electronic limitations lie mainly in the resolution of the analogue signals, although a resolution
of < 0,01 % only needs to be considered for our modules with long positions. In addition, the
linearity of the individual signal points (PLC, sensor and control module) must be taken into
account.
It is generally recommended to calculate the static and dynamic behavior of the hydraulic axis.
For supporting this, following technical basic data are required:
•minimum natural frequency of the cylinder,
•maximum theoretical speed for extending and retracting,
•valve characteristics (natural frequency, overlapped or zero lapped, hysteresis and the flow
gain (flow and pressure drop),
•system pressure, maximum pump flow,
•a description of the general system requirements.
Pressure closed loop control
The pressure control is used as a pressure limitation control function. If the feedback pressure is
higher than the command pressure, the pressure controller takes over the control of the axis.
This kind of control is typically used in metal forming applications. The behavior of the pressure
closed loop control is adjustable by an optimized PID compensator. Two different setups can be
selected over the fieldbus. Optionally, the pressure control function can be used without the
position controller.

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2.4 Commissioning
Step Task
Installation Install the device in accordance with the circuit diagram. Ensure it is
wired correctly and the signals are well shielded. The device must be
installed in a protective housing (control cabinet or similar). The wiring
to the fieldbus interface is done by ProfiNet specified cables.
Switching on for the first
time
Ensure that no unwanted movement is possible in the drive (e. g. switch
off the hydraulics). Connect an ammeter and check the current
consumed by the device. If it is higher than specified, there is an error in
the wiring. Switch the device off immediately and check the wiring.
Setting up communication Once the power input is correct, the PC (notebook) should be connected
to the serial interface. Please see the EWMPC/20 program
documentation for how to set up the communication.
Further commissioning and diagnosis are supported by the operating
software.
Pre-parameterization Now set up the following parameters (with reference to the system
design and circuit diagrams):
- The SYSTEM data, INPUT sensor settings, control parameter and
OUTPUT parameters. Pre-parameterization is necessary to minimize
the risk of uncontrolled movements.
- Reduce the speed limitation to a value which is uncritical for the
application.
Fieldbus Communication By selecting the device driver, the IP address of the device and the
configuration file, the communication can now be operated to the
device. At the corresponding positions setpoints and control bits can
now be sent and actual values and status bits are read back. Read the
description of the interface in a separate chapter.
Remote Control If there is no bus communication available at the beginning of the
commissioning, the axis can be operated solely via the EWMPC/20
program. In the monitor window, the “Remote Control” mode can be
activated. Then it is possible to enter a speed value and move the axis
using the manual signals or to enter a position set-point and to activate
the position controller by setting the “Start” – signal.
CAUTION! EWMPC/20 will take over complete control in this state. The
hardware – enable signal at PIN 8 and the bus interface are inoperable in
this case.
Control signal Check the control signal with a current- or voltmeter.
Voltages: The differential output (PIN 15 minus PIN16) lies in the range
of ± 10 V.
Current: PIN 15 is used for 4… 20 mA (12 mA for 0 % of the control
signal). An alternative output signal (in case of not READY) can be
defined by the EOUT command.

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Step Task
Switching on the
hydraulics
The hydraulics can now be switched on. Since the module is not yet
generating a signal, the drive should be at a standstill or drift slightly
(leave its position at a slow speed).
Activating ENABLE CAUTION! The drive can now leave its position and move to an end
position at full speed. Take safety measures to prevent personal injury
and damage.
Both hardware ENABLE and software ENABLE (over the fieldbus) have to
be activated. Outputs and failure processing are active. The drive stays
(closed loop controlled) in the current position. If the drive moves to an
end position, the polarity is probably wrong.
Speed demand The speed is sent by the fieldbus. At zero speed, no movement is
possible.
Manual (HAND) operation If START is disabled, the axis can be moved manually with HAND+ or
HAND-. After disabling the HAND signal, the axis stops closed loop
controlled at the current position. The axis can also be driven without a
sensor signal.
Activating START With the start signal the demand value input is accepted and the axis
moves to the target position.
If START is disabled, the axis stops in the preset deceleration distance
D:S.
Optimize controller Now optimize the control parameters according to your application and
your requirements.

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3Technical description
3.1 Input and output signals
Connection Supply
PIN 3 Power supply (see technical data)
PIN 4 0 V (GND) connection.
PIN 19 Power supply Fieldbus and SSI-interface (see technical data)
PIN 20 0 V (GND)
Connection Analogue signals
PIN 6 Actual pressure (X1), range 0… 10 V or 4… 20 mA, scalable (SIGNAL:X1)
PIN 13 Actual pressure (X2), range 0… 10 V or 4… 20 mA, scalable (SIGNAL:X2)
PIN 14 Actual position (X), range 0… 10 V or 4… 20 mA, scalable (SIGNAL:X)
PIN 11 / PIN 12 0 v (GND) connection for the analogue signals
PIN 15 / 16 Control output, range: +/- 10 V (differential output) or PIN 15: 4… 12… 20 mA
Type of signal and polarity can be selected by the parameter SIGNAL:U.
Connection SSI-sensor
PIN 25 SSI-interface: CLK+ output
PIN 26 SSI-interface: CLK- output
PIN 27 SSI-interface: DATA- input
PIN 28 SSI-interface: DATA- input
PIN 31 Power supply output 24 V
PIN 32 Power supply output 0 V
Connection Digital inputs and outputs
PIN 8 Enable input:
Hardware ENABLE (have to be activated together with fieldbus ENABLE)
Connection Digital inputs and outputs
PIN 1 READY output:
ON: The module is enabled; there are no discernible errors.
OFF: Enable (PIN 8 or Fieldbus bit) is disabled or an error has been detected
(depending on command SENS)
PIN 2 -

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3.2 LED definitions
Left side
LEDs Description of the LED function
GREEN Identical to the READY output.
OFF: No power supply or ENABLE is not activated
ON: System is ready for operation
Flashing: Error discovered. Only active when SENS = ON
YELLOW A Identical to the STATUS output.
OFF: The axis is outside the INPOS window.
ON: The axis is within the INPOS window.
GREEN +
YELLOW A+B
1. Chasing light (over all LEDs): The bootloader is active. No normal functions are
possible.
2. All LEDs flash shortly every 6 s: An internal data error was detected and
corrected automatically! The module still works regularly. To acknowledge the
error the module has to be cycle powered.
YELLOW A +
YELLOW B
Both yellow LEDs flash alternately every 1 s: The nonvolatile stored parameters are
inconsistent! To acknowledge the error, the data have to be saved with the SAVE
command or the corresponding button in the EWMPC/20.
Right side
LEDs Description of the LED function
GREEN x2 The green LED shows link pulses. It flickers if there is network traffic.
OFF: No power supply
ON: System is ready for operation
Flashing: Ethernet connection is active and there is data transmission
YELLOW x2 PROFINET State LEDs. Both LEDs show always the same status.
OFF: Bus not started
Flash 10Hz: Error
Flash 2Hz: Bus started, waiting for connection / configuration mode
ON: Connected and active

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3.3 Block diagram

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3.4 Typical wiring

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3.5 Technical data
Supply voltage (Ub)
Current requirement
External protection
[VDC]
[mA]
[A]
24… 30 (incl. ripple)
220 (plus SSI Sensor current consumption)
1 medium time lag
Digital inputs
Input resistance
[V]
[kOhm]
OFF : < 2 ON : > 10
25
Digital outputs
Maximum output current
[V]
[mA]
OFF: < 2 ON: max. Ub
50
Analogue inputs (sensor and demand
value signal)
Signal resolution
[V]
[mA]
[%]
0… 10; 25 kOhm
4… 20; 250 Ohm
0,003 incl. Oversampling (maximum res. 1 µm)
Analogue outputs
Voltage
Signal resolution
Current
Signal resolution
[V]
[mA]
[%]
[mA]
[%]
2 x 0… 10; differential output
10 (max. load)
0,006
4… 20; 390 Ohm maximum load
0,006
SSI-interface
Data rate [kbit/s]
RS-422 specification
150
Controller sample time [ms] 1
Serial interface USB in RS 232C Emulation
57600 (9600… 115200) Baud,
1 stop bit, no parity, echo mode
PROFINET IO Baud rate 100 Mbit/s, Full-Duplex-operation
Housing Snap-on module to EN 50022
PA 6.6 polyamide - Flammability class V0 (UL94)
Weight [kg] 0,310
Protection class
Temperature range
Storage temperature
Humidity
[°C]
[°C]
[%]
IP20
-20… 60
-20… 70
< 95 (non-condensing)
Connections USB-B
7 x 4-pole terminal blocks
PE: via the DIN mounting rail
EMC EN 61000-6-2: 8/2005
EN 61000-6-4: 6/2007 ; A1:2011

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4Parameters
4.1 Parameter overview
Group
Command Default Unit Description
Basic parameters
MODE
--- - Parameter view
LG
EN - Changing language help texts
SYSTEM (MODE = SYSTEM)
SENS
ON
-
Malfunction monitor
EOUT
0 0,01 % Output signal if not ready (not enabled or an error has been
detected)
Input signals (MODE = INPUT)
Analogue position sensor scaling, system range, error monitor
SYS_RANGE
100
mm
Axis working stroke
N_RANGE:X
100
mm
Nominal range
OFFSET:X 0 µm Offset value
SELECT:X SSI - Sensor section
SIGNAL:X
U0-10
Type of input
SSI:POL
+
-
Polarity
SSI:RES 100 10 nm Resolution of the sensor
SSI:BITS
24
- Number of data bits
SSI:CODE
GRAY
-
Code
SSI:ERRBIT
0
-
Position of the error bit
Analogue pressure sensor scaling, system pressure range, pressure error monitor
PS_RANGE 100 bar System pressure
ARATIO 1000 - Ratio of the cylinder (1000 is corresponding with a ratio of one)
SIGNAL:X1
U0-10
-
Type of the sensor
N_RANGE:X1
100
bar
Nominal pressure of the sensor
SIGNAL:X2 OFF - Type of the sensor
N_RANGE:X2 100 bar Nominal pressure of the sensor
POSITION (MODE = POSITION) position-regulator
HAND:A
HAND:B
3330
-3330
0,01 %
0,01 %
Output signal in manual mode (limitable by the speed input)
POSWIN:S 200 µm Ranges of the in position monitoring, target monitoring
POSWIN:D
200
µm
Ranges of the in position monitoring, synchronization error
VMODE
SDD
-
Method of positioning (SDD or NC)
SDD mode
VRAMP
200
ms
Ramp time for the external command speed
A:A
A:B
100
100
ms
ms
Acceleration (ramp times) in SDD mode

Start-up Manual
89445/117 ETM
20
Duplomatic Oleodinamica S.p.A. All rights reserved.
Group
Command Default Unit Description
D:A
D:B
D:S
25
25
10
mm
mm
mm
Deceleration stroke in SDD mode
NC mode
ACCEL
250
mm/s²
Acceleration in NC mode
VMAX
50
mm/s
Maximum speed in NC mode
V0:RES
V0:A
V0:B
V0_AFC:A
V0_AFC:B
1
8
8
8
8
1/s
1/s
1/s
1/s
Can be used to change the resolution
Closed loop gain without acceleration feedback
Closed loop gain with acceleration feedback
FF:A
FF:B
0
0
-
-
Feed forward control
General
AFC:P
AFC:T1
0
10
0,01
ms
Acceleration feedback (Gain and filter time)
PT1 0 ms PT1 time constant
CTRL
SQRT1
-
Control characteristics
Pressure control (MODE = PRESSURE)
PRESSWIN
2000 µm Control window for pressure monitoring
RA:UP
RA:DOWN
100
100
ms
ms
Ramp times
P_OFFSET
0
mbar
Offset compensation
Parameters Set 1
C1:P
C1:I
C1:D
C1:D_T1
C1:I_ACT
50
4000
0
10
5000
0,01
0,1 ms
0,1 ms
0,1 ms
0,01 %
P Gain
I Gain, reset time
D Gain, derivative
D filter
Integrator activation
Parameters Set 2
C2:P
C2:I
C2:D
C2:D_T1
C2:I_ACT
50
4000
0
10
5000
0,01
0,1 ms
0,1 ms
0,1 ms
0,01 %
P Gain
I Gain, reset time
D Gain, derivative
D filter
Integrator activation
Output signal conditioning (MODE =OUTPUT)
MIN:A
MIN:B
0
0
0,01 %
0,01 %
Deadband compensation or flow characteristic linearization
MAX:A
MAX:B
10000
10000
0,01 %
0,01 %
Output scaling
TRIGGER
200 0,01 % Trigger point of MIN parameter
OFFSET
0
0,01 % Output offset value
SIGNAL:U
U+-10
-
Type and polarity of the analogue output