Eaton ER9.3-10 User manual

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Digitaler Reglerverstärker ER9.3-10
zur elektrohydraulischen Pumpenreglung
der EATON Axialkolbenpumpen
X und W Design
Digital Amplifier And Controller ER9.3-10
For Displacement Control of EATON Variable
Piston Pumps in X and W Design

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Table of Contents
Features....................................................................................................................28
Function....................................................................................................................29
Technical Data..........................................................................................................30
Pin Assignment on Back Connector X1....................................................................32
Display and Keypad..................................................................................................33
Setting of Parameters...............................................................................................34
Setting of Parameters Using the Keypad ..............................................................34
Recall Default Values of a Single Parameter.....................................................35
Recall Default Values of all Parameters ............................................................35
Setting Parameters Using RS232 Serial Interface and PC....................................36
Setting Values...........................................................................................................36
Digital Set Values..................................................................................................37
Analog Set Values.................................................................................................37
Ramp Function .........................................................................................................38
Controller Structure...................................................................................................38
Test Jacks.................................................................................................................40
Display Parameters...................................................................................................40
Analog Output...........................................................................................................40
Comparator...............................................................................................................40
Break Function..........................................................................................................40
Fail Safe Function.....................................................................................................40
List of Parameters – as delivered condition..............................................................41
Commissioning.........................................................................................................44
Non Warranty........................................................................................................44
Wiring....................................................................................................................44
Installation of Electronic Card................................................................................45
Verification of Parameters.....................................................................................45
Switching on the Pump..........................................................................................45

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Adjustment of Zero Point on Swash Plate Angle Sensor.......................................45
Verification of Control Behavior.............................................................................47
Modifying Sensor Gain..........................................................................................47
Closed Loop Function ...........................................................................................47
Saving Parameters................................................................................................47
Hint........................................................................................................................47
Änderung / Revision..................................................................................................48

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Features
The digital amplifier and controller card ER9.3-10 is used for displacement control SP of EATON
variable piston pumps in X and W design. The swash plate is positioned by a Vickers Proportional
Valve KDG4V-3. The digital amplifier and controller card meet the industrial standard for EMC
EMV 89/336/EEC, which ensures a high interference security and low interference emission. The
electronic card is tested according to DIN EN 60068-2-6 (vibration) and DIN EN 60068-2-27
(mechanical shock). The electronic card features a display and six buttons to change the card
parameters. Parameterisation of the digital amplifier and controller card is also possible by using the
enclosed software tool ER9.3-Tool via a serial RS232 interface.
The system features are:
•Differential amplifier input for set points in the range of 0 … ± 10V, 14 bit resolution.
•Additional single ended, independent set point inputs, (one for the range of 0 … ± 10V, 14 bit
resolution; the other for the range of 0 ... 20 mA / 4 ... 20 mA , 14 bit resolution).
•Integrated reference supply voltage of ± 10 V (10 mA max.), to supply set point potentiometer or
actual value transducer.
•Four storable and adjustable digital set points (one additional point is optional)
•Two, independent, analog set point inputs with 14 bit resolution and a high adjustment range
(depending on input 0 ... 12 V or 0 ... 20 mA / 4 ... 20 mA).
•Direction externally set through “+“ and “-“ inputs.
•Enable signal for output stages.
•Ramp function and Reset-Ramp for fast ramp function zeroing.
•Status outputs: Error and Comparator
•All digital inputs and outputs are optically isolated for functional security.
•Four 7-segment displays and six buttons for display and functionality ease.
•Function indication through front panel by LEDs.
•Additional switching output (24 V, max 1A) to directly disable safety valve.
•Additional front panel test jacks for easy commissioning.
•Serial interface RS232.

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Function
Fig. 1 shows an EATON swash plate pump in W design with proportional valve adjustment
displacement control SP. The ER9.3-10 card measures the actual position of the swash plate using a
swash plate sensor, compares the swash plate angle with the set value, and drives a VickersÒ
proportional valve (KDG4V-3). The valve ports are connected to the servo cylinder of the pump. The
position of the swash plate angle, the displacement and the pump outlet flow are proportionally
changed to the set value. In the static state condition (i.e. set value is equal to actual swash plate
angle) the valve spool is in middle position. If the set value is changing, the valve is working until the
desired value is reached.
Swash Plate
Sensor
Proportional Valve
Vickers KDG4V-3
Servo Cylinder
Yoke
Solenoid A
Solenoid B
Set Value
PW
EN
ER
SP1 SP2 SP3 SP4
RP0 IO1 IO2 IO3
+
X2
ER9.3-10
-
Swash Plate Angle
-100
0
100
-10 0 10
Set Value U/I
-100 % +100 %
-100 %
+100 %
Fig. 1: Function of SP-Control

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Technical Data
Parameters Range, characteristics
Supply voltage DC 18 ... 30 V, residual ripple < 10%
Solenoid systems selection 0.8 A / 1.1A / 1.3 A / 1.6 A / 2.4 A / 2.7 A / 3.5 A
Power input Max. 50 VA
Applicable fuse (quick) 3.15 A
Auxiliary voltage ±10 V, max. load 10 mA.
Control voltage for external
recallable set point 24 V ±10%, residual ripple ≤10%
current input ≤20mA each
Ambient temperature 0 °C ... 50 °C(other range on request)
Storage temperature - 20 °C ... 60 ° C
Plug connection DIN 41 612, 48 pol. form F gold plated
EMC
Protection Burst on wires as per EN 61000-4-4
HF-Field as per EN 61000-4-3
ESD as per EN 61000-4-2
Emissions Emissions depending on power as per EN 50011
Radiated emissions as per EN 55011
Additional Certifications
Vibration All directions as per DIN EN 60068-2-6
Shock All directions as per DIN EN 60068-2-27
Dimensions
Front panel/ PCB 50,5 x 128,4 mm; 10 TE / 3 HE / 100 x 160 mm Euro format
Input signals
Analogue set values 1 input, differential 14 Bit resolution, 0 ... ±10 V
1 input, single ended 14 Bit resolution, 0...±10 V
1 input, single ended 14 Bit resolution, 0 or 4...20 mA
Analogue feedback
(sensor input) 1 input, 14 Bit resolution, 0... ±12 V, 0...20 mA / 4...20 mA, Offset: 3..10
V, Gain: ca. 0 ...14 (R=100 Ohm)
1 input, 14 Bit resolution, 0... ±10 V
Digital inputs 8 inputs, voltage level 0 V / 24 V 10 mA
(Set point S1.01 ... S1.04, ENABLE, RAMP 0 , SIGN + , SIGN -)

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Parameters Range, characteristics
Output signals
Solenoid current 2 output stages for up to 3.5 A; with over-energization and quick de-
energization
Analog output 1 output, 12 Bit resolution, 0 .. ±10 V for controlling subsequent
electronics
Monitor output 1 output, 12 Bit resolution, 0 ... ±10 V; for monitoring internal values
Digital outputs 2 outputs, voltage level 0 V / 24 V,
10 mA (Error, Comparator)
Test jacks Solenoid current, sensor 1, set value, monitor and GND
Auxiliary voltage ±10 V, max. load 10 mA
Interface RS232 with 9-pol Sub-D connector on front panel and a second
connector is available on the back
Display and operation 4 digit display, 6 buttons (up, down, left, right, enter and Esc)
Status-LED’s: PW (Power), ER (Error), EN (Enable), SP1 ...SP4 (S1.01
... S1.04), RP0 (Ramp = 0),
Frequencies and cycle times
PWM Frequency 18 kHz
Cycle times Current controller ca. 0,22 msec
Inner closed loop controller ca. 0,22 msec (for valve feedback)
External closed loop controller 2 ca. 0,44 msec
Table 1: Parameters of digital controller card ER9.3-10

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Pin Assignment on Back Connector X1
Table 2 shows the pin assignment on the 48 pin connector of card holder HC000000315303. Values
in brackets {} have no function in proportional valve adjustment displacement control mode (SP). The
wiring scheme, necessary for SP-Control is shown in Fig. 7. Additional wiring, e.g. to use monitoring
function, can be done optional by customer.
Pin d b z
20 V (External) DIO 1 (S1.08 if
activated) - Sign (direction) digital set values
4Digital set value 2 (S1.02) {DIO 2 / Channel-B} + Sign (direction) digital set
values
6Digital set value 3 (S1.03) {DIO 3 / 0-Pulse} Digital set value 4 (S1.04)
8ENABLE (DI 1) Reserved Digital set value 1 (S1.01)
10 Sensor 1 (FB 1) UE, IEAnalog output {RxD (RS232)}
12 Analog set value 6 UE+
(S1.06) {TxD RS232} Analog set value 5 UE+ (S1.05)
14 ERROR (DO 1) COMPARATOR (DO 2) {Sensor 2 (FB 2) UE}
16 Analog set value 6 UE-
(S1.06) {reserved} Analog set value 7 IE(S1.07)
18 Digital GND PE Ramp = 0 (DI 2)
20 Reference output - 10.0 V Break output 24 V / 1 A Reference output + 10.0V
22 Solenoid output A - Solenoid output A - Solenoid output A -
24 Solenoid output B - Solenoid output B - Solenoid output B -
26 0 V (Power) 0 V (Power) Analog GND
28 Solenoid output A + Solenoid output A + Solenoid output A +
30 Solenoid output B + Solenoid output B + Solenoid output B +
32 + 24 V (Power) + 24 V (Power) 24 V (External)
Table 2: Pin Assignment 48 pin connector

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Display and Keypad
PW
EN
ER
SP1 SP2 SP3 SP4
RP0 IO1 IO2 IO3
+
-
X2
ER9.3-10
PW
EN
ER
SP1 SP2 SP3 SP4
RP0 IO1 IO2 IO3
+
-
X2
ER9.3-10
RIGHT
LEFT
ENTER
ESC
Status LED‘S
Status LED‘S+ / -
UP
DOWN
Interface RS232
Diagnose
Connector for
2 mm Plug
Solenoid A
Rampe deactivated
Power
Error
Enable
Display 4-Digit
7-Segments
Solenoid BSetpoint
Actual
Value
Ground Displayparameters (d1.01 - d1.13)
Status-LED‘s for
Digital Setpoints
S1.01 - S1.04
Status-LED
Digital Setpoint
S1.08 Not used
Fig. 2: Display and keypad
Fig. 2 shows the front face of the ER9.3-10 card. The function of these elements is described in
Table 3. The sockets “A” and “B” can be used to measure the solenoid currents independently. The
voltage is approximately 1V at 1A. The analogue set point “S1.06” can be measured at the socket
“SET”. The representation is 1:2 proportional to the measured value (half the set point voltage). At the
socket “FB1” the actual analog feedback value (d10) can be measured. The reading is proportional to
the actual value and has the relation of 1:2.
Element Function
Status LED’s display the status and signals Power, Error, Ramp zeroing and digital I/O
±LED’s display the set point direction through polarity signs for parameters and measured values
Display 4-digit display of parameters and measured values
Buttons UP,
DOWN, LEFT,
RIGHT, ESC and
ENTER
all operating, programming and saving may be performed with the buttons UP, DOWN, LEFT,
RIGHT, ESC and ENTER
Serial interface RS232 - programming and accessing parameters via PC, communications to machine, or
from amplifier to amplifier
Measuring and
test jacks Direct measurement of set point (SET), actual value (FB1), solenoid currents (A and B) and internal values via the monitor output. (d1.01 ... d2.13) (Use 2 mm sockets)
Table 3: Function of display components
ATTENTION
The electrical wiring must be checked before switching on the supply voltage. Limit
switches and safety devices must be activated to avoid uncontrolled movements.
Carefully follow relevant safety regulations. Suitable emergency stop measures must
be taken.

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Setting of Parameters
The digital controller and amplifier ER9.3-10 has a display and keypad to change the card parameters.
Additionally, it is possible to change the card parameters using the enclosed ER9.3-Tool with a PC via
the RS232 serial interface on the front.
Setting of Parameters Using the Keypad