Pepperl+Fuchs VBA-4E4A-G20-ZEJ/M3L-P10 User manual

VBA-4E4A-G20-
ZEJ/M3L-P10
AS-Interface motor control
mod le
FACTORY AUTOMATION
MANUAL

With regard to the supply of products, the current issue of the following document is ap-
plicable: The General Terms of Delivery for Products and Services of the lectrical Indus-
try, published by the Central Association of the lectrical Industry (Zentralverband
lektrotechnik und lektroindustrie (ZV I) e.V.) in its most recent version as well as the
supplementary clause: " xpanded reservation of proprietorship"
VBA-4 4A-G20-Z J/M3L-P10

VBA-4 4A-G20-Z J/M3L-P10
3
1 Introd ction................................................................................. 4
1.1 Content of this Doc ment ................................................................... 4
1.2 Target Gro p, Personnel...................................................................... 4
1.3 Symbols Used ...................................................................................... 4
1.4 Intended se......................................................................................... 5
1.5 General Safety Information.................................................................. 5
1.6 Declaration of conformity.................................................................... 6
2 Certificates and approvals......................................................... 7
2.1 UL Information...................................................................................... 7
3 Prod ct Description ................................................................... 8
3.1 Use and application ............................................................................. 8
3.2 Ho sing................................................................................................. 9
3.3 Displays and operating elements ....................................................... 9
3.4 Interfaces and connections .............................................................. 11
3.5 Accessories ........................................................................................ 12
4 Installation................................................................................. 13
4.1 Storage and Transportation .............................................................. 13
4.2 Unpacking........................................................................................... 13
4.3 Connecting the AS-Interface and A xiliary Power Flat Cable ....... 13
4.4 Connecting motors and sensors...................................................... 16
5 Commissioning......................................................................... 17
5.1 AS-Interface comm nication ............................................................ 17
5.2 Config ring the start/stop ramps ..................................................... 19
6 Tro bleshooting........................................................................ 23

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VBA-4 4A-G20-Z J/M3L-P10
Introduction
1 Introduction
1.1 Content of this Document
This document contains information required to use the product in the relevant phases of the
product life cycle. This may include information on the following:
■ Product identification
■ Delivery, transport, and storage
■ Mounting and installation
■ Commissioning and operation
■ Maintenance and repair
■ Troubleshooting
■ Dismounting
■ Disposal
The documentation comprises the following parts:
■ This document
■ Datasheet
In addition, the documentation may comprise the following parts, if applicable:
■ U-type examination certificate
■ U declaration of conformity
■ Attestation of conformity
■ Certificates
■ Control drawings
■ Instruction manual
■ Other documents
1.2 Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation,
commissioning, operation, maintenance, and dismounting of the product. The personnel must
have read and understood the instruction manual and the further documentation.
Prior to using the product make yourself familiar with it. Read the document carefully.
1.3 Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. It is mandatory
that you observe these warning messages for your personal safety and in order to avoid
property damage.
Note
For full information on the product, refer to the further documentation on the Internet at
www.pepperl-fuchs.com.

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Introduction
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Depending on the risk level, the warning messages are displayed in descending order as
follows:
Informative Symbols
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
1.4 Intended use
The AS-Interface motor control module is used to control 1 or 2 DC roller motors. The module
is optimized for ITOH Denki PM ... X /XP motors, but can also be used for compatible DC
motors. The motor control module has 2 inputs for connecting 3-wire sensors.
Read through these instructions thoroughly. Familiarize yourself with the device before
installing, mounting, or operating.
Always operate the device as described in these instructions to ensure that the device and
connected systems function correctly. The protection of operating personnel and plant is only
guaranteed if the device is operated in accordance with its intended use.
1.5 General Safety Information
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Installation and commissioning of all devices may only be performed by trained and qualified
personnel.
User modification and or repair are dangerous and will void the warranty and exclude the
manufacturer from any liability. If serious faults occur, stop using the device. Secure the device
against inadvertent operation. In the event of repairs, return the device to your local
Pepperl+Fuchs representative or sales office.
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Note
This symbol brings important information to your attention.
Note
Disposal
lectronic waste is hazardous waste. When disposing of the equipment, observe the current
statutory requirements in the respective country of use, as well as local regulations.

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VBA-4 4A-G20-Z J/M3L-P10
Introduction
1.6 Declaration of conformity
This product was developed and manufactured under observance of the applicable uropean
standards and guidelines.
The product manufacturer, Pepperl+Fuchs GmbH, D-68307 Mannheim, has a certified quality
assurance system that conforms to ISO 9001.
Note
A Declaration of Conformity can be requested from the manufacturer.
ISO9001

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Certificates and approvals
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2 Certificates and approvals
2.1 UL Information
Technical Data and Environmental Conditions
This device is for indoor use only.
This device may be operated in altitudes up to 2000 m.
The ambient temperature range is from -25 °C to +70 °C.
The device must be installed in accordance with applicable national laws and regulations.
If the device is used in a manner not specified by the manufacturer, the protection provided by
the equipment may be impaired.
The device is maintenance-free.

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Product Description
3 Product Description
3.1 Use and application
The VBA-4 4A-G20-Z J/M3L-P10 motor control module is an AS-Interface connection
module for controlling 1 or 2 DC roller motors. The module is optimized for ITOH Denki
PM ... X /XP motors, but can also be used for compatible DC motors.
To record statuses in the field environment, the module also has 2 inputs for 3-wire sensors
with PNP outputs or for mechanical contacts. The input characteristic of the inputs corresponds
to type 1 in accordance with N 61131-2.
The motors are supplied with power via an external auxiliary voltage. Sensors are supplied
from the AS-Interface. The auxiliary voltage is supplied to the motor control module via a 2
nd
flat cable in addition to the AS-Interface flat cable.
■ The permissible auxiliary current is 18 V ... 30 V.
■ The sensor power supply may be loaded, in total, with 100 mA.
■ For each motor, a maximum current load of 5 A is permitted briefly (< 2 s).
Figure 3.1 VBA-4 4A-G20-Z J/M3L-P10 motor control module
ssential function and application characteristics of the motor control module are:
■ Compact housing for direct mounting in support profiles or cable ducts
■ Connection of the motors/sensors via cable outputs with M8 connectors
■ Piercing technology with gold-plated contact pins for contacting the AS-Interface flat cable
■ Function displays for the bus, external auxiliary current, status information, inputs, and
outputs
■ Communication monitoring
■ Configurable start/stop ramps for motor control
■ Supply of the connected motors from the external auxiliary current
■ Supply of the connected sensors from the AS-Interface

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3.2 Housing
The housing is made entirely of plastic, except for the hinge pins for the hinged cable guide.
The housing consists of following main components:
■ a mounting base with embedded electronics
■ a folding guide cage as a cable guide for the AS-Interface flat cable
Figure 3.2 Housing dimensions
3.3 Displays and operating elements
Figure 3.3 Status indicators on the motor control module
The operating state of the motor control module is displayed via 10 L Ds.
Stat s indicators for AS-Interface and power s pply
The PWR L D and the FAULT L D show the AS-Interface operating state. Various error states
are displayed as a collective error message "Peripheral fault."
Display of the AS-Interface operating states
120
131.5
27.5
15
27.5
54
Ø 8
L D PWR
Green
L D FAULT
Red Status
On Off AS-Interface power supply is OK
Flashing On Address = 0
On On AS-Interface communication error
YELLOW ASI
BLACK AUX
PWR
FAULT
AUX
FUSE1 FUSE2
DIR
MOT1 MOT2
IN1 IN2
IN1
MOT1
IN2
MOT2

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Product Description
The AUX L D shows the status of the AUX external auxiliary voltage supply.
Display of the AUX External a xiliary voltage s pply
Stat s indicators for motor f ses
The FUS 1 L D for motor 1 and the FUS 2 L D for motor 2 show the status of the power
supplied to the motors.
Motor f se Indicator
Stat s indicators for motors MOT1, MOT2
The MOT1, MOT2, RR 1, RR2, and DIR L Ds display information about the operating states
of the respective motor.
Motor activity indicators
Flashing Flashing Peripheral fault, collective error message for:
■ AUX external auxiliary power is missing or is inverted
■ Overload of the sensor supply (IN+, IN-)
■ Overload of the speed signal SP D
Off Off AS-Interface voltage missing
AUX L D
Red/green Status
Green on AUX external auxiliary voltage is OK
Red on AUX external auxiliary voltage is inverted
Off AUX external auxiliary voltage is missing
L D FUS 1
L D FUS 2
Green Status
On Power supply for motor is OK
Off Power supply for motor is missing:
■ Fuse is faulty or
■ AUX external auxiliary voltage is not connected
Table 3.1
L D PWR
Green
L D FAULT
Red Status
Note
Motor fuses Are safety fuses
Fuses with a 5 A rated current act as protection against short circuits. ach motor is
safeguarded with a fuse. The fuses are not exchangeable. If a fuse is faulty, the module must
be replaced.
L D MOT1
L D MOT2
Yellow Status
On Motor is in operation
Off Motor is off
Table 3.2

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Motor direction of rotation indicator
Stat s indicators for IN1, IN2 sensors
The IN1 L D for input 1 and IN2 L D for input 2 show the switch states of the inputs.
Display of the Inp ts
3.4 Interfaces and connections
Flat cable specification
The AS-Interface motor control module is compatible with the AS-Interface standard cable in
accordance with I C 62026-2.
The following AS-Interface cable types are available with UL Recognized approval:
AS-Interface cable types with UL approval
Inp t/O tp t connections
The sensors and motors are connected to the motor control module via cables with round M8
connectors:
■ Sensors: socket, 4-pin
■ Motors: socket, 5-pin
The cable length is 1 m.
L D DIR
Yellow Status
On Direction of rotation to the right (in accordance with ITOH Denki)
Off Direction of rotation to the left (in accordance with ITOH Denki
Table 3.3
IN1 L D
IN2 L D
Yellow Status
On Input is set (high)
Off Input is not set (low)
Table 3.4
Pepperl+Fuchs
Designation Color
Sheathing material/
core insulation Cross section UL "Cable Style" Approval
VAZ-FK-R-Y Yellow TP /TP 2x 1.5 mm 2103
VAZ-FK-R-BK Black TP /TP 2x 1.5 mm 2103
VAZ-FK-PUR-Y Yellow PUR(TMPU)/TPM 2x 1.5 mm 20549
VAZ-FK-PUR-BK Black PUR(TMPU)/TPM 2x 1.5 mm 20549
VAZ-FK-PUR-BK-
2,5MM
Black PUR(TMPU)/TPM 2x 2.5 mm 20549/10493
Table 3.5

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Product Description
Motor s pply from a xiliary c rrent
The motors are supplied with power directly from the AUX external auxiliary current and this
cannot be switched. The voltage is always on contacts 1 and 3 of the 5-pin M8 connector.
Connector Assignment
3.5 Accessories
Various accessories are available.
Connection for Connectors Plug type/plug assignment
Sensor Inp t: in accordance with I C/ N 61076-2-104
M8, 4-pin, socket, screw-locking, coding A
S itable co nterpart connector:
M8, 4-pin, plug, screw-locking, coding A
IN1/IN2
1: IN+ sensor supply
2: Not used
3: IN- sensor supply
4: IN input
Motor Motor: in accordance with I C/ N 61076-2-104
M8, 5-pin, socket, screw-locking, coding B
S itable co nterpart connector:
M8, 5-pin, plug, screw-locking, coding B
1: MOT+ motor supply
2: DIR direction of rotation
3: MOT- (= AUX-) motor supply
4: RUN motor run signal
5: SP D velocity signal
Table 3.6
3 1
4 2
3 1
4 2
5
Product Product name
VBP-HH1-V3.0-KIT AS-Interface Handheld with accessory
VAZ-PK/G20-1M-V1-G Adapter cable G20 module/hand-held
programming device
VAZ-G20-MH Mounting aid
Table 3.7

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Installation
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4 Installation
4.1 Storage and Transportation
Keep the original packaging. Always store and transport the device in the original packaging.
Store the device in a clean and dry environment. The permitted ambient conditions must be
considered, see datasheet.
4.2 Unpacking
Check the product for damage while unpacking. In the event of damage to the product, inform
the post office or parcel service and notify the supplier.
Retain the original packaging in case the device must be stored or shipped again at a later
date.
Should you have any questions, please contact Pepperl+Fuchs.
4.3 Connecting the AS-Interface and Auxiliary Power Flat Cable
The motor control module is connected to the AS-Interface network and the AUX auxiliary
power via the AS-Interface flat cable. The yellow flat cable is for communication and the black
flat cable is for the AUX auxiliary power. The permissible auxiliary power is 18 V ... 30 V.
Contact between the motor control module and flat cables is established via two metal
mandrels and using insulation piercing technology. The flat cables are routed through a hinged
cable guide. When closed, the cable guide is locked using a locking bracket and can be
opened again without the needs for tools.
The profiled flat cables have a narrow upper side (with a visibly offset profile edge) and a wide
under side (profile edge not visible). The cable guide allows the flat cables to be inserted on
both sides, for flexible connection of flat cables already laid in cable ducts. However, you must
make sure that the profile edge always points to the motor control module. Mechanical reverse
polarity protection prevents complete closure of the cable guide if the flat cable is inserted
incorrectly.
Connecting Flat Cables on the Narrow Side
The profile edge is visible from above.
1. Open the cable guide. To do this, push the locking bracket (1) slightly to one side.
2. Insert the black AUX flat cable with the profile edge (4) to the motor control module into the
lower guide (see the module tag "Black AUX").
3. Insert the yellow AS-Interface flat cable with the profile edge (3) to the motor control module
into the upper guide (see the module tag "Y LLOW").
4. Make sure that the profile edges of both flat cables are under the respective reverse polarity
protection (2, 5).
5. Close the cable guide. It must engage securely in the locking bracket (1).
The metal mandrels contact the strands in the flat cables.
Caution!
If one is inserted incorrectly, the motor control module will not work.
If the flat cable is inserted in the cable guide in the wrong direction, the voltage is inverted. The
motor control module will not work. However, internal electrical reverse polarity protection
protects it against breakage.
Tip
For easier closing of the cable guide, use mounting aid VAZ-G20-MH.

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Installation
Figure 4.1 Connecting Flat Cables on the Narrow Side
Connecting Flat Cables on the Wide Side
The profile edge is not visible from above. For orientation purposes in the figure below, the
edge is shown as a hidden edge drawn with a dotted line.
1. Open the cable guide. To do this, push the locking bracket (1) slightly to one side.
2. Insert the black AUX flat cable with the profile edge (3) to the motor control module into the
lower guide (see the module tag "Black AUX").
3. Insert the yellow AS-Interface flat cable with the profile edge (2) to the motor control module
into the upper guide (see the module tag "Y LLOW").
4. Close the cable guide. It must engage securely in the locking bracket (1).
The profile edges (2, 3) of both flat cables are above the two reverse polarity protections.
The metal mandrels contact the strands in the flat cables.
YELLOW
BLACK AUX
1
2
3
5
4
Tip
For easier closing of the cable guide, use mounting aid VAZ-G20-MH.

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Installation
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Figure 4.2 Connecting flat cables on the wide side (profile edge as dotted line)
Flat Cable Inserted Incorrectly
The figure below shows an incorrectly inserted flat cable. The profile edge (2) does not point to
the motor control module; the flat cable is therefore inserted with reverse polarity. The flat cable
is located on the reverse polarity protection (1) with a curvature, which means that the cable
guide cannot be closed completely (mechanical reverse polarity protection).
Figure 4.3 Flat cable inserted incorrectly (profile edge as dotted line)
YELLOW
BLACK AUX
1
23
1
2

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Installation
4.4 Connecting motors and sensors
Figure 4.4 Connection wiring diagram for motors and sensors
(n.c.)
PWR
AUX+
AUX-
AS-Interface +
AS-Interface -
FAULT
AUX
1
4
3
2
IN
1
2
4
5
3
FUSE
IN1 & IN2
IN+
IN
IN-
MOT1 & MOT2
MOT+
DIR
RUN
SPEED
MOT-
3 1
4 2
M3 1
4 2
5
DIR
MOT

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Commissioning
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5 Commissioning
AS-Interface slaves are usually addressed with a handheld. Connect the adapter cable VAZ-
PK/G20-1M-V1-G to the handheld VBP-HH1-V3.0.
5.1 AS-Interface communication
Assignment of the AS-Interface data bits
4 data bits are available for communication to take place between the motor control module
and the master. 4 data bits are available for controlling the motors.
The following designations apply below:
■ DI0 ... DI3 for AS-Interface input data (motor control module to master)
■ DO0 ... DO3 for AS-Interface output data (master to motor control module)
DI0 ... DI03 motor control mod le to master
DO0 ... DO3 master to motor control mod le
AS-Interface comm nication monitoring
The motor control module has a watchdog function. If there has been no communication with
the master for more than 40 ms, the motor control module sets the output data DO0 ... DO3 to
logical 0.
Starting/Stopping motors (DO0, DO1)
You can start or stop the motors separately via bits DO0 and DO1. To start motors, you must set
the corresponding data bit to logical 1. Via the RUN control signal, the motor control module
activates the respective motor.
Data bits DO0, DO1
AS-Interface data bit Input DI
DI0 Switch state input IN1
DI1 Switch state input IN2
DI2 Unused
DI3 Unused
Table 5.1
AS-Interface data bit Output DO
DO0 Start/stop motor 1
DO1 Start/stop motor 2
DO2 Direction of rotation of motor 1 and motor 2
DO3 Slow rotational speed of motor 1 and motor 2
Table 5.2
Data bit Status Function Motor start signal RUN
L D
MOT1/2
DO0 1 Start motor 1 ≥(U
AUX
- 2.5 V) MOT1: on
0 Stop motor 1 High impedance, approx. 0 V MOT1: off
DO1 1 Start motor 2 ≥(U
AUX
- 2.5 V) MOT2: on
0 Stop motor 2 High impedance, approx. 0 V MOT2: off
Table 5.3

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Commissioning
Switching the motor direction of rotation (DO2)
You can switch the direction of rotation of the motors using the DIR control signal. The direction
of rotation signal applies to both motors. To control the direction of rotation, you must
parameterize data bit DO2 accordingly.
For ITOH Denki, logical 0 corresponds to a direction of rotation to the left. The motor control
module switches the DIR control signal to high impedance.
For ITOH Denki, logical 1 corresponds to a direction of rotation to the right. The motor control
module switches the DIR control signal to AUX level.
You can reverse direction of rotation of motor 2 by setting parameter bit P2 to logical 0. Motor 2
will then rotate in opposite direction of motor 1.
Data bit DO2, parameter bit P2
Switching the motor speed (DO3)
You can switch both motors to a slow speed via data bit DO3. The slow speed is determined
based on the set speed.
Data bit DO3
Adj sting the motor speed (P0, P1)
You can adjust the speed via parameter bits P0 and P1. This always applies to both motors
simultaneously. To do this, you must parameterize 1 of 4 predefined speed values. The speed
values correspond to analog voltage values.
If the master does not change the parameter bits when the AS-Interface network is switched
on, the 4
th
speed value (10 V) is set by default on the motor control module.
Using data bit DO3, you can switch the speed of both motors between fast and slow.
The motor control module issues the set control voltage to the motors via the SP D control
signal when the motors are switched on via data bits DO0 and DO1 (logical 1). The motor
control module readjusts the control voltage. Therefore the control voltage is independent of
the load within certain limits. If the control limits are exceeded due to an excessive load, the
motor control module issues a peripheral fault.
Para-
meter
bit
Data
bit Direction of rotation Direction of rotation signal L D DIR
P2 DO2 Motor 1 Motor 2 DIR 1 DIR 2 Yellow
0 0 left right High impedance, approx. 0 V ≥(U
AUX
- 2.5 V) off
0 1 right left ≥(U
AUX
- 2.5 V) High impedance, approx. 0 V on
1 0 left left High impedance, approx. 0 V High impedance, approx. 0 V off
1 1 right right ≥(U
AUX
- 2.5 V) ≥(U
AUX
- 2.5 V) on
Table 5.4
Data bit Status Function
DO3 0 fast speed
1 slow speed
Table 5.5

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Parameter bits P0, P1
Reversing the direction of rotation of MOT2 (P2)
You can reverse the direction of rotation of MOT2 via parameter bit P2.
Parameter bit P2
Stat s of the sensor inp ts (DI0, DI1)
The motor control module transfers the switch states of inputs IN1 and IN2 to the master via
data bits DI0 (IN1) and DI1 (IN2).
There is a filter upstream of the inputs that suppresses pulses ≤2 ms.
Data bits DI0, DI1
5.2 Configuring the start/stop ramps
Overview
To control the acceleration and to stop the motors, you can set 1 of 8 defined start/stop ramps
for the speed signal SP D. These ramps always apply to both motors simultaneously. The
ramp duration corresponds to the time from stopped to reaching the maximum speed or from
the maximum speed to stopped. The inclines of the ramps are constant for each of the 8 ramps
and independent of the set speed. The reference value for all ramps is the speed signal
SP D = 10 V. For a lower parameterized speed, the ramp duration is proportionally shorter.
Predefined start/stop ramps
Parameter bit DO0 (MOT1)
or DO1 (MOT2)
Speed signal U
S
P1 P0 Fast (D3 = 0) Slow (D3 = 1)
x x 0 < 1 V < 1 V
0 0 1 4.7 V 0.7 V
0 1 1 5.7 V 1.7 V
1 0 1 7.7 V 2.7 V
1 1 1 9.7 V 3.7 V; default setting
Table 5.6
Parameter
bit Status Function
P2 0 counter-rotating, direction of rotation of MOT2 inverted
1 synchronized, direction of rotation of MOT1 = direction of
rotation of MOT2 (default setting)
Table 5.7
Data bit Status Input switch state L Ds IN1, IN2
DI0 0 Unattenuated, I
IN
≤0.5 mA IN1: off
1 Attenuated, I
IN
≥2.0 mA IN1: on
DI1 0 Unattenuated, I
IN
≤0.5 mA IN2: off
1 Attenuated, I
IN
≥2.0 mA IN2: on
Table 5.8
Ramp number Ramp duration
0 No ramp (default setting)
1 50 ms

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Commissioning
The ramp is not effective if the direction of rotation signal is switched when the motor is active.
In this case, the direction of rotation is reversed immediately.
Config ring start/stop ramps
To adjust the start/stop ramp, you must change the motor control module to configuration
mode. The motor control module stores a new ramp configuration in the internal non-volatile
memory. This ramp is activated automatically after each switch-on. You can reconfigure a ramp
as often as required.
A prerequisite for configuration is that the flat cables for the AS-Interface and AUX are
connected. Communication must already be taking place between the master and motor
control module.
The configuration sequence consists of 9 steps. As part of this, defined data is transferred via
data bits DO0 ... DO3 and parameter bits P0 ... P2 between the master and the motor control
module. The master must keep the data and parameter bits constant for at least 10 ms for each
step. Longer intervals are possible as long as a period of 10 s is not exceeded for steps 1 ... 6.
The configuration of a new start/stop ramp runs in the following phases:
■ In steps 1 ... 6, the master sends parameter values to the motor control module to activate
configuration mode (max. 10 s). For each step, DO0 ... DO3 must have the value "4".
■ When the motor control module is in configuration mode, MOT1 and MOT2 L Ds start to
flash.
■ In step 7, the master sends the selected ramp number to the motor control module via
DO0 ... DO3.
■ In step 8, the master sends the parameter value "4" to the motor control module via
P0 ... P2. The motor control module stores the ramp number in the non-volatile memory.
■ In step 9, the master exits configuration mode. The master sends data value "0" via
DO0 ... DO3 and data value "7" via P0 ... P2. The motor control module switches to
normal mode. The MOT1 and MOT2 L Ds stop flashing.
2 100 ms
3 200 ms
4 300 ms
5 500 ms
6 1000 ms
7 1500 ms
Table 5.9
Ramp number Ramp duration
Note
Default Setting on Delivery
On outbound delivery, ramp number 0 (no ramp) is the default.
Note
Configuration mode display via LEDs
If the motor control module is in configuration mode, the MOT1 and MOT2 L Ds flash
simultaneously at a frequency of approximately 2 Hz.