REXROTH Rexroth VT-VRPD-2 User guide

Start-up and Operation
RE 30126-01-B/08.07
Replaces: 07.06
VT-VRPD-2 – Digital valve amplifier
for valve types
4WRE 6, component series 2X
4WRE 10, component series 2X

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG 2/76
Contents
1Introduction..................................................................................................5
1.1 Document.......................................................................................................5
1.2 General ..........................................................................................................5
1.3 Signs and symbols used in this document....................................................5
2Overview of the 4WRE 6 and 4WRE 10 –Valve control..........................7
2.1 General ..........................................................................................................7
2.2 Electrical and hydraulic installation plan .......................................................8
Connector pin assignments...................................................................................................10
Connecting the proportional valve........................................................................................12
Connecting the valve position transducer...........................................................................13
2.3 Controller faceplate elements......................................................................14
3Application: Valve control for the 4WRE6 / 4WRE10 ............................16
3.1 Structured list for proceeding with startup...................................................16
3.2 Data exchange between the BODAC software and the VT-VRPD controller
card..............................................................................................................17
3.3 Open or create parameter file .....................................................................17
3.4 Configure inputs...........................................................................................18
Voltage (b14/b16)....................................................................................................................18
Current (b22/b24)....................................................................................................................19
Ramp+ (b6/b8).........................................................................................................................19
Ramp-(b18/b20).....................................................................................................................19
Configure Analog I/O -Inputs................................................................................................20
3.5 Configure Profile..........................................................................................21
Configure Strucure..................................................................................................................21
Commands...............................................................................................................................22
Faults........................................................................................................................................25
3.6 Valve configuration......................................................................................26
Command Adjustment............................................................................................................26
Configure..................................................................................................................................29
3.7 Save parameters.........................................................................................30

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG 3/76
3.8 Testing the application settings...................................................................30
Motion data ..............................................................................................................................30
Status........................................................................................................................................32
Test jacks .................................................................................................................................32
3.9 Start Application...........................................................................................33
4User interface BODAC -General..............................................................34
4.1 Software tool and data handling..................................................................34
The BODAC Software............................................................................................................34
Data exchange between BODAC and the VRPD..............................................................34
Create file.................................................................................................................................34
Save the current status ..........................................................................................................35
4.2 Main Menu...................................................................................................35
Title bar.....................................................................................................................................36
Menu bar..................................................................................................................................36
BODAC toolbar........................................................................................................................36
Window toolbar........................................................................................................................37
Status bar.................................................................................................................................38
Short cut list.............................................................................................................................38
5BODAC –Menu Description.....................................................................40
5.1 File menu.....................................................................................................40
Open..........................................................................................................................................40
Save ..........................................................................................................................................40
Printer Setup............................................................................................................................41
Print...........................................................................................................................................41
Quit............................................................................................................................................42
5.2 Controller menu...........................................................................................42
Offline........................................................................................................................................42
Connect....................................................................................................................................42
Search Card.............................................................................................................................43
Read parameters ....................................................................................................................43
Write Parameters ....................................................................................................................44
Set parameters to memory....................................................................................................44
Language..................................................................................................................................44
Card information......................................................................................................................45
5.3 View menu...................................................................................................46
Status........................................................................................................................................47
Fault History.............................................................................................................................48

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG 4/76
5.4 Configuration menu .....................................................................................49
Analog I/O ................................................................................................................................49
“Inputs” field....................................................................................................................49
Local Bus..................................................................................................................................51
5.5 Tools menu..................................................................................................53
Preferences..............................................................................................................................53
Com..................................................................................................................................53
Options.............................................................................................................................56
Security............................................................................................................................59
Utilities ......................................................................................................................................61
5.6 Application Window menu...........................................................................62
Structure...................................................................................................................................62
Command adjustment............................................................................................................62
Commands...............................................................................................................................62
Digital I/O..................................................................................................................................63
Motion Data..............................................................................................................................66
Creating a log-file....................................................................................................................67
Multiplot....................................................................................................................................68
Multiplot toolbar..............................................................................................................68
Multiplot signal display legend.....................................................................................71
Winview recording...................................................................................................................72
Faults........................................................................................................................................73
Test jacks .................................................................................................................................73
5.7 Windowsmenu............................................................................................74
Select an opened window......................................................................................................74
Save layout..............................................................................................................................74
Open layout..............................................................................................................................74
5.8 Help menu....................................................................................................75
About BODAC…......................................................................................................................75
Topics........................................................................................................................................75
Examples..................................................................................................................................75

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG5/76
Introduction 1
1Introduction
1.1 Document
Version status of this document: 1.0
1.2 General
Inthismanual you will become familiar with:
nThe digital amplifier VT-VRPD
nThe BODAC (Bosch Rexroth Operator interface for Digital Axis Controller)
software
nApplication examples
You will learn about the menus and window contents for the software, the settings and
parameters
The software description presumes basic familiarity with a PC and corresponding
knowledge of the user interface and operating elements of Windows™
If you need additional information, please read the relevant chapters in the Microsoft
Windows user’s manual or use Windows online help
Information about installation and operation of the VT-VRPD card can be found in the
manual “Installation and Operation of the VT-VRPD Controller”
A list of VRPD documentation can be found in the publication RE 30126
1.3 Signs and symbols used in this document
The following signs and symbols are used in this manual
ØActivity symbol: The text following this sign describes activities. These are to be
performed from top to bottom in the order indicated.
üResult symbol: The text following this sign describes the result of an action.
After this symbol you will find notes and useful tips for optimal usage of
the controller card.

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG6/76
Introduction 1
After this symbol you will find references to more detailed
documentation.
Special safety notes are given at the relevant locations. These are indicated using the
followingsymbols
General hazard
This sign is placed in front of activities which represent a
potential hazard to persons and/or extensive damage to
equipment
Warning signs

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG7/76
Overview of the 4WRE6and4WRE10 –Valve control 2
2Overview of the 4WRE 6 and 4WRE 10 –Valve control
2.1 General
The digital amplifier VT-VRPD-2-2x is used to control a 4/2-and 4/3-Proportional
Control Valvewith electrical feedback of the type 4WRE6or 4WRE 10.
The control system as a minimum consists of:
nValve 4WRE 6 ...-2X/G24K4/V or 4WRE 10 ...-2X/G24K4/V
nController VT-VRPD-2-2x

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG8/76
Overview of the 4WRE6and4WRE10 –Valve control 2
2.2 Electrical and hydraulic installation plan
Fig. 1Block schematic of VT-VRPD card

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG9/76
Overview of the 4WRE6and4WRE10 –Valve control 2
Explanation of items 1–17:
No. Designation
1U/U-or I/U-Transformer
2Adjustment of analog inputs
3Switching matrix
4Powersupplyunit
5Binary command value call-ups
6Binary call-ups control
7Adjustment of characteristic curve
8Creator of jump function
9Offset
10 Limitation
11 PID controller
12 Oscillator/Demodulator
13 Testjacks
14 Digital outputs
15 Fault logic
16 Local Bus
17 Serial interface
Testjacks
X1 Valve current (default)
X2 Valve command (default)
-Reference potential (0V)

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG10/76
Overview of the 4WRE6and4WRE10 –Valve control 2
Connector pin assignments
Pin Description
VT-VRPD-2-2X
2DI 1 Command call-up: Binary 1
4DI 2 Command call-up: Binary 2
6DI 3 Command call-up: Binary 4
8DI 4 Command call-up: Binary 8
10 DI 5 n.c.
12 DI 6 DI 1–4 valid
14 DI 7 n.c.
16 DI 8 n.c.
18 DI9 Enable
20 DO 1 Solenoid A active
22 OK Ready for operation
24 Data + Local CAN Bus In-/Output
26 DO 2 Solenoid B active
28 Data –Local CAN Bus In-/Output
30 AO 1 Valve command value
32 AO 2 n.c.
Tab. 1 Connector configuration, row d
Pin Description VT-VRPD-2-2X
2AI3+ n.c.
4AI3-n.c.
6AI2+ Ramp+ (current or voltage input)
8AI2-Ramp+ (current or voltage input)
10 AI1+ n.c.
12 AI1-n.c.
14 AI4+ Command value (as voltage input)
16 AI4-Command value (as voltage input)
18 AI5+ Ramp-(current or voltage input)
20 AI5-Ramp-(current or voltage input)
22 AI6+ Command value (as current input)
24 AI6-Command value (as current input)
26 AO3 Solenoid current
28 AGND Analog GND
30 REF-Reference voltage -10V
32 REF+ Reference voltage +10V
Tab. 2 Connector configuration, row b
Row d
Row
b

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG11/76
Overview of the 4WRE6and4WRE10 –Valve control 2
Pin Description VT-VRPD-2-2X
2MA+ Solenoid A+
4MA –Solenoid A–
6MB+ Solenoid B+
8MB –Solenoid B–
10 Shield Shield
12 L1O–LVDT Valve Power –
14 L1I–LVDT Valve actual value –
16 L1I+ LVDT Valve actual value +
18 L1O+ LVDT Valve Power +
20 System ground System ground
22 DO 3 Following error > configured value
24 DO 4 Digital Output, programmable
26 DO 5 Digital Output, programmable
28 DO6 Digital Output, programmable
30 UB Supply voltage
32 LO Common
Tab. 3 Connector configuration, row z
Pin Description VT-VRPD-2-2X
2DO 7 n.c.
4SSI Clk+ n.c.
6SSI Clk-n.c.
8SSI Data+ /
INC Ua1 n.c.
10 SSI Data -/
INC /Ua1 n.c.
12 Ua2 n.c.
14 /Ua2 n.c.
16 Ua0 n.c.
18 /Ua0 n.c.
20 L2O-n.c.
22 L2I-n.c.
24 L2I+ n.c.
26 L2O+ n.c.
28 GND_CAN n.c.
30 CANL n.c.
32 CANH n.c.
Tab. 4 Connector configuration, row f
Row z
Row f

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG12/76
Overview of the 4WRE6and4WRE10 –Valve control 2
Connecting the proportional valve
When connecting the proportional valve, be sure that the solenoid cables are routed
separately from the inductive position transducers.
It is strongly recommended that the solenoid cable is shielded.
For lengths up to 50 m cable 2 x 1.5 mm² of type LiYCY-CY (16 AWG double-shielded
cable) is recommended. When double shielded cable is used the outer shield can be
terminated entering the control cabinet and the inner shield needs to be terminated at
the controller card.
VPCD
_
0
5
2
P
E
1
2
PE
1
Solenoid a
Solenoid b
Solenoid connector wiring
to Controller to Controller
z2z4z6z8z10
Fig. 2Connecting the solenoids
A CECc 75301-803-A002FA-H3008-G cable connector according to DIN EN 175 301-
803 and ISO 4400 is recommended for connecting the solenoids.
nSolenoid a, cable connector color gray
Order separately under material number R901017010
nSolenoid b, cable connector color black
Order separately under material number R901017011
Single-solenoid valves are to be connected to solenoid A+/A-. The
solenoid B+/B-connection then remains open. For single-solenoid
valves, only positive command values are recognized as being valid.
When using single-solenoid valves in conjunction with current input
b22/b24, it must be noted that range +/-100% is set as default setting.
To be able to utilize the full range 0…20mA, range 0~100% must be
set.

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG13/76
Overview of the 4WRE6and4WRE10 –Valve control 2
Connecting the valve position transducer
Connection for the valve position transducer is shown in the following illustration.
VPCD_0
6
3
4 2
1
Valve position feedback connection
z12
z14
z16
z18
z
1
0
Fig. 3Connecting the valve transducer
The transducer is connected using a 4-pole cable connector Pg7-G5W1F, which can
be ordered separately under material number R900023126.
Cable 4 x 0.25 mm² of type LiYCY-CY ( 4 x 30 AWG Double shielded cable) is
recommended for lengths up to 50 m.
The shield should be connected to z10 on the edge connector of the controller on the
supply side only.

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG14/76
Overview of the 4WRE6and4WRE10 –Valve control 2
2.3 Controller faceplate elements
Fig. 4Faceplate elements
The LED indicates the status of the controller card.
OK “Ready”
“Enable“ (d18) active
The controller cards software is configured using the serial port. The following graphic
shows the pin configuration for the D-SUB female on the front panel.
Status-LED
Serial port

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG15/76
Overview of the 4WRE6and4WRE10 –Valve control 2
D
-
S
U
B
1
6
9
Receive data
(RS232
)
Transmit data (RS232
)
GND
5
Fig. 5Terminal assignments for the D-SUB socket
When an input or output is activethe corresponding LED is illuminated.
LED Description VT-VRPD-1-1X
I1 DI 1 Binary Command-Setpoint 1
I2 DI 2 Binary Command-Setpoint 2
I3 DI 3 Binary Command-Setpoint 4
I4 DI 4 Binary Command-Setpoint 8
I5 DI 5 n. c.
I6 DI 6 Command-Setpoint 1-4valid
I7-n. c.
O1 DO 1 Solenoid A active
O2 DO 2 Solenoid B active
O3 DO 3 Following error > configured value
O4 DO 4 Digital Output, programmable
O5 DO 5 Digital Output, programmable
O6 DO 6 Digital Output, programmable
O7 -n. c.
Tab. 5 LEDs on front panel
The testjacks can be used to access variable controlsignals.
X1 Test jack 1 (Output A03)
X2 Test jack 2
Test jack GND
LEDs Inputs /
Outputs
Test jacks

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG16/76
Application:Valve control for the 4WRE6 /4WRE10 3
3Application: Valve control for the 4WRE6 / 4WRE10
3.1 Structured list for proceeding with startup
nThe BODAC Software
nData interchange between BODCA software and the controller card VT-VRPD
nOpening or creating Parameters
nConfigure inputs
Setpoint using a voltage input
Setpointusing a current input
Ramp+ (increasing)
Ramp-(decreasing)
Configure analog inputs
nConfigure Profile
Configurestructure
Setpoint configuration
Faults
nStore parameter values
nCheck Processsettings
Motion Data
Status
Testjacks
nStart the Application
Using software for startup
Configure inputs
Define structure
Store current status
Process settings
Starting the application

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG17/76
Application:Valve control for the 4WRE6 /4WRE10 3
3.2 Data exchange between the BODAC software and the VT-VRPD
controller card
Establish an RS-232 connection between the PC and the VT-VRPD so that you can
configure, save and duplicate the desired data for your controller card.
The baud rate (57600 baud) is fixed in the card.
ØConnect PC to VT-VRPD using an RS-232 cable (1:1 cable)
e.g. cable set: VT-HACD-1x/03.0/HACD-PC, Material-No. R900776897,
length3m
ØTurn on PC and VT-VRPD
ØInstall BODAC.
ØStart BODAC (see section 4 “BODAC user interface”).
USB converter:
If the PC has no serial port, anUSB/RS232 interface converter may be
used. (Can be ordered using material number R901066684.)
3.3 Open or create parameter file
The card is configured depending on the application. The data for configuration and
parameterisation are saved in a file (FILENAME.PARAM) and stored in the predefined
directory \user\.
Assign a file name and save the beginning state.
If there are no parameter files, you are prompted after program start to
open a default file.
See section “Open”.
See section “Save”.
Open parameter file
Create parameter file

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG18/76
Application:Valve control for the 4WRE6 /4WRE10 3
3.4 Configure inputs
The “Analog I/O” menu is where you configure the analog inputs for your application.
Clicking on the preceding icon, which is a component of the toolbar,
also opens the “Analog I/O” window. A list of existing shortcuts for the
toolbar can be found in Section 4.2 “BODAC Toolbar”.
Fig. 6“Analog I/O" window
The File menu in the “Analog I/O” window corresponds to the BODAC main window
“File menu”.
Contains commands for reading, writing andmodifyingparameters.
Takes you directly tothe help for the current topic, or to the contents page of the
BODAC windows help.
NOTES:
Note that set external command values are added to the internal
command values of the profiles. If the external command value is
turned off, only the parameterized internal set point always remains as
the input for the controller.
The analog inputs are all differential inputs.
Note:
If the differential inputs are usedboth connections of the differential
input have to be switched ON or OFF simultaneously.
Contacts used for this have to be suitable for currents< 1mA.
Voltage (b14/b16)
Here the range for the external setpoint (Voltage input b14/b16) is defined.
Analog I/O
-
File menu
Analog I/O
-
Controller menu
Analog I/O
-
Help menu

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG19/76
Application:Valve control for the 4WRE6 /4WRE10 3
By using the mouse to click on the „Type“ field a pull-down menu will open from which
the following options can be selected:
n+/-10V
The input signal has a range of (–10 V) to (+10 V).
n0~10 V
The input signal range is from (0 V) to (+10 V).
Further adjustment to the input signals is explained in greater detail in the section
“Configure Analog I/O -Inputs“.
Current (b22/b24)
The range for the external setpoint using the Current input (b22/b24) is configuredfor
4-20 mA and can not be changed.
Further adjustment to the input signals is explained in greater detail in the section
“Configure Analog I/O -Inputs“.
Ramp+ (b6/b8)
This value determines theexternal ramp used to rampthe command signal when the
setpoint is a risingedge in positive (Solenoid A) or negative (Solenoid B) direction.
Clicking on the „TYPE“ entry field opens a pulldown menu containing the following:
n0~10V
An input signal of (0 V) to (+10 V) is expected.
n4~20mA
The current value of the input signal ranges from (4 mA) to (20mA).
For additional configuration of the Ramp+ please refer to Section“Configure Profile”
Ramp-(b18/b20)
This value determines theexternal ramp used to rampthe command signal when the
setpointis a falling edge in positive (Solenoid A) or negative (Solenoid B) direction.
Clicking on the „TYPE“ entry field opens a pulldown menu containing the following:
n0~10V
An input signal of (0 V) to (+10 V) is expected.
n4~20mA
The current value of the input signal ranges from (4 mA) to (20 mA).
For additional configuration of the Ramp-please refer to Section “Configure Profile”
Type
Type
Type
Type

RE 30126-01-B/08.07 | Manual Hydraulics | Bosch Rexroth AG20/76
Application:Valve control for the 4WRE6 /4WRE10 3
Configure Analog I/O -Inputs
The following parameters can be used to configure the Analog I/O –Inputs:
The value range of the signal in [%] is set in the „Range“ column. If the selection +/-
10V is made in the „Type“ column a signal of (-10V) corresponds to a signal of (-
100%) when the range setting is +/-100%.
The „Min“ value sets the minimum fort he input signal. Depending on the setting of
„Type“ and „Range“ this value is translated to the minimum value of the „Range“
setting.
If for example you enter -5V , with Type = +/-10V and Range = +/-100%, a signal of -
5V is interpreted as-100%.
The „Max“ setting is the opposite of the „Min“. If +9V is entered a signal of +9V is
interpreted as 100%.
If the value falls below the entered value, BODAC uses the „Status“ window and the
„Status bar“ to indicate that a fault has occurred.Specifying the error response is
done in the “Faults” window.
If the value exceeds the entered value, BODAC uses the „Status“ window and the
„Status bar“ to indicate that a fault has occured. Specifying the error response is done
in the “Faults” window.
The „max Unit“ specifies the conversion from Range [%] to Units [Unit].
Fields that can not be modified are grayed-out.
Range
Min
Max
min Fault
max Fault
max Unit