Category: MOOG

The L180 servo drive is used to control MOOG brushless servo motors.

These are three-phase motors with 8 or 12 poles (4 or 6 pole pairs) with bipolar resolvers.

The L180 servo drive is fully digital. The high-performance torque and speed control meets all requirements for fast response and high control accuracy.

The digital control allows full diagnostics, motor parameter adjustment, data and fault detection using a PC-based graphical user interface (GUI).

The L180 servo drive features the following:

Power supply

– Single-axis unit that includes a regenerative module to minimise wiring and space requirements.

– 230 V three-phase or single-phase.

– Optional: External filter in the power supply is CE compliant.

– The drive is designed to Protective Extra Low Voltage (PELV) standards. www.honeywell-diver.com An autotransformer is sufficient for the mains input.

Power Driver

– Galvanic isolation between control and power electronics.

– IGBT output stage.

– Digital PWM current loop provides low ripple motor current and high motor efficiency.

Digital Controller

– Fully digital servo drive for brushless motors with resolver.

– Easy software download via RS232 serial connection.

– Temperature regulated fan cooling.

– Multi-loop control (torque and speed).

– Sine current output ensures smooth torque and performance at low speeds.

– 7-segment status indicator for diagnostic display.

User Inputs

– ±10VDC differential analogue input for speed or current commands.

– RS232 serial port.

– Limit switches for bi-directional overrun protection.

– Optional external 24VDC power supply for control and interface boards in the event of a mains power failure.

User Outputs

– Programmable incremental encoder analogue output with 1 to 2048 ppr resolution (extrapolated), differential RS 422 line driver output.

– Programmable supervisory relays to indicate ready, alarm or enabled status.

Protection Features

– The power stage is short-circuit and thermal protected.

– Motor thermal protection through I²t limiting and thermistors.

– Detects resolver faults and motor wiring faults.

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5X00419G01 Ethernet Link Controller

1769-PB4 Power Module

IC660TBD025 GeniusI/O Terminal Assembly Module

BSFC-01C Charge Controller Board SP Kit Gate Driver Boards

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The Ruggedised Motion Controller is part of our Motion Controller range and is designed for high speed control and extreme environmental conditions.

It is suitable for both electric and hydraulic motion systems. It can be mounted directly on the machine without the need for an additional electronic cabinet.

For flexible communication, several models with different interfaces are available: -EtherCAT main function for

-EtherCAT master for real-time communication with valves, drives and www.honeywell-diver.com external devices / 0

– EtherCAT slave for real-time communication with PLC host systems

-CAN/CANopen interface for communication, e.g. with sensors.

Profibus-DP slave interface for PLC host systems

-Ethernet connection for programming, commissioning and visualisation

-USB 1.1 host interface

The motion controller has the same high computing power as other Moog motion controllers and can be used with the powerful

IEC 61131 development environment Moog Axis Control Software (MACS) for free programming.

The innovative combination of rugged design, advanced computing power and flexible fieldbus support makes the ruggedised

motion controllers an excellent choice for most high-performance embedded control solutions.

Benefits

Special housing with high protection class (IP67) for wet and dirty environments

-Extended operating temperature range

High vibration resistance (30g vibration, 50g shock).

Suitable for harsh environments

-Extended resistance to fluid contamination and corrosion

-Flexible communication via various fieldbuses

Advanced computing capabilities

Integrated PLC functionality

Applications

Wind turbines

Presses and metal forming

Heavy industry (steel, aluminium)

Test and simulation systems

Chemical industry

Robotics

Application Notes

Scope

These application notes are a guide to applying the G123-814 Dual PWM Amplifier. They show you how to install, connect and adjust the PWM amplifier.

They do not cover how to select a proportional valve or how to design a closed-loop system.

Instructions

The G123-814 Dual PWM Amplifier is used to drive two coils of a three position 24V solenoid proportional valve.

It is designed for low-end closed-loop applications. It allows the use of very low cost proportional valves where much more expensive servo valves would normally be required.

Using it with the companion servo amplifier G122-824 and a proportional valve produces an economical closed loop solution.

Applicability

The G123-814-001 has a closed loop configuration and is used with Hydrolux WP www.honeywell-diver.com series proportional valves.

Important specifications considered include 24V @ 800mA coil and 12% spool overlap.

Output current is 25% higher than rated to ensure that maximum flow is not unduly affected by valve production tolerances and spool Bernoulli forces.

Deadband compensation circuitry to eliminate spool overlap has been optimised for flow bench and field applications. Deadband compensation is not user adjustable. Applying this amplifier

Apply this amplifier to other valves with the same specifications to obtain the same performance as Hydrolux valves.

The G12-814 is not suitable for conventional open-loop proportional valve applications. A zero flow condition is highly unlikely as the deadband compensation circuit cancels out spool overlap.

Zero flow conditions are unlikely with zero coil current as the deadband compensation circuit cancels out spool overlap.

Mounting

Installation consists of mounting a horizontal DIN rail to the vertical rear surface of an industrial steel enclosure.

The rail release clips on the G123-814 should face downward to allow front panel and terminal markings to be clearly readable and to allow cooling airflow to the internal electronics.

An important consideration for module placement is electromagnetic interference (EMI) from other equipment in the enclosure.

For example, VFs and AC servo drives generate high levels of EMI. be sure to check other equipment for EMC compliance before placing it near the G123-814.

Cooling

Vents at the top and bottom of the G123-814 chassis provide cooling for internal electronic equipment. These vents should be kept clear.

It is important to ensure that the equipment below does not generate hot exhaust gases that could heat the G123-814.

Wiring

It is recommended that crimped “guide lace sleeves” be used as screw terminals. Allow sufficient length of cable

so that the wires remain connected when the circuit card is removed from the housing. This allows the circuitry to be checked while the circuit card is still connected and operational.

For cables connected to the outside of the housing as well as for cables connected to the adjacent DIN rail unit, an additional 100 mm is sufficient.

The cable to the valve coil carries 1 Amp and should be sized accordingly.

Cables with a conductor size of 0.2 mm2 are normally rated at 1 Amp and are suitable for cable lengths up to 5 metres.

Electromagnetic compatibility

The G123-814 emits emissions well below the levels required for CE marking testing.

However, the cable connecting the valve coil should be shielded to ensure that no interfering radiation is emitted.

Connect both ends of the shielded cable to chassis earth. Use terminals 10 and 14 on G123-814.

Immunity to external interference radiation depends on careful wiring techniques. The recognised method is to use shielded cables for all connections, the

The accepted method is to use shielded cable for all connections and to radially terminate the cable shield with a suitable grounded cable gland where it enters the industrial steel enclosure.

If this is not possible, chassis ground screw terminals are available on the G123-814.

The length of bare wire should be minimised. Connect the shield at each end of the cable to chassis ground.

Moog Motion Control

Moog offers a variety of freely programmable Motion Controllers, each of them designed with specialized functionality to meet a range of customer requirements.

Regardless of your application, we have a Motion Controller that will meet your requirements.

MSC III Motion Controller

The MSC III Motion Controller is a high performance Motion Controller with PLC www.honeywell-diver.com functionality that is ideal for complex centralized and decentralized applications.

The MSC III Motion Controller offers several fieldbus interfaces, high resolution analog inputs/outputs, position sensor interfaces and digital inputs/outputs.

It is designed for fast and accurate closed-loop control of multiple hydraulic and electric actuators.

MASS (Moog Application Software Suite)

The IEC 61131-3 is an integrated development environment based on CODESYS 3.

MASS offers full programming, debugging, simulation, parameterization, visualization and tracing capabilities.

It helps you to achieve enhanced machine performance via special Moog libraries of pre-programmed function blocks, and enables users to solve advanced control problems.

The MASS is designed to improve machine control by providing powerful, advanced capabilities for closed-loop and open-loop control, as well as PLC functionality.

Features and BeneFits

Products:

Moog Motion Controller MSC II family

D136-002-002 MSC II Motion Controller standard

D136-002-003 MSC II Motion Controller with EtherCAT master

D136-002-005 MSC II Motion Controller with Profibus Slave & EtherCAT master

Moog Motion Controller MSC-R family

D136-003-001 MSC-R Motion Controller with 2nd CAN & Profibus slave

D136-006-001 MSC-R-IO

MSD Motion Controller family

G391-001-001 MSD Motion Controller standard

G391-001-002 MSD Motion Controller Profibus

General

The Moog Axis Application Software Suite (MASS) offers a state of-the-art development environment for implementing demanding motion control functions using the IEC 61131 standard for development.

MASS includes tools for:

• Programming

• Testing and optimizing

• Debugging Documentation

• Visualization

• Configuration

Interfaces

• Ethernet (TCP/IP and UDP/IP)

• EtherCAT

• CAN/CANopen

• PROFIBUS-DP

Features

Extensive libraries with Moog function blocks, based on 50 years of experience in electric and hydraulic motion control.

• Freely programmable controller structures

• Maximum flexibility by offering a complete scope of functions in all IEC 61131 programming languages

• Simultaneous realization of control, regulation and PLC applications in one application program

• Open standard interfaces for communication with machine and process levels

Benefits

• Quick project realization

• Low programming efforts

• One tool for programming, visualizing and documentation

MASS Functionality

MASS is based on CODESYS 3 which is the standard for IEC 61131 programming. It has been enhanced by Moog www.honeywell-diver.com by adding motion control functionality. In this way, even complex automation projects can be simplified. MASS includes the following functionality:

Motion control technology

• Controller: I, D, PID standard/extended

• Filter: High-pass, low-pass, notch

• Non-linear functions: Dead band, nonlinear, dual-gain, look-up table

• Simulation of the process: PT1, PT2

• Function generator

• Signal delay

• Counter

• Timer

• Transfer functions: Continuous, time discrete

Hardware

Moog Motion Controller

• Signal conditioning for analog inputs/outputs and position sensors

• Diagnostics wire fault, power fault etc.

• Time evaluation

• Watchdog

Communication

Graphical configurator for:

• EtherCAT master

• CAN open master

• CAN open slave

• PROFIBUS-DP slave

Visualization

• Web based visualization: MASS visualization pages can be displayed on a web browser

• Support of CODESYS HMI

Products:

Moog Motion Controller MSC II family

D136-002-002 MSC II Motion Controller standard

D136-002-003 MSC II Motion Controller with EtherCAT master

D136-002-005 MSC II Motion Controller with Profibus Slave & EtherCAT master

Moog Motion Controller MSC-R family

D136-003-001 MSC-R Motion Controller with 2nd CAN & Profibus slave

D136-006-001 MSC-R-IO

MSD Motion Controller family

G391-001-001 MSD Motion Controller standard

G391-001-002 MSD Motion Controller Profibus

Application Notes

1 Scope

These Application Notes are a guide to applying the G122-829A001 P-I Servoamplifier. These Application Notes can be used to:

 Determine the closed loop structure for your application.

 Select the G122-829A001 for your application. Refer also www.honeywell-diver.com to data sheet G122-829.

 Use these Application Notes to determine your system configuration.

  Draw your wiring diagram.

 Install and commission your system.

Aspects, such as hydraulic design, actuator selection, feedback transducer selection, performance estimation, etc. are not covered by these Application Notes. The G122-202 Application Notes (part no C31015) cover some of these aspects. Moog Application Engineers can provide more detailed assistance, if required.

2 Description

The G122-829A001 is a general purpose, user configurable, P-I servoamplifier. Selector switches inside the amplifier enable either proportional control, integral control, or both to be selected. Many aspects of the amplifier’s characteristics can be adjusted with front panel pots or selected with internal switches. This enables one amplifier to be used in many different applications. Refer also to data sheet G122-829.

3 Installation

3.1 Placement

A horizontal DIN rail, mounted on the vertical rear surface of an industrial steel enclosure, is the intended method of mounting. The rail release clip of the G122-829A001 should face down, so the front panel and terminal identifications are readable and so the internal electronics receive a cooling airflow.

An important consideration for the placement of the module is electro magnetic interference (EMI) from other equipment in the enclosure. For instance, VF and AC servo drives can produce high levels of EMI. Always check the EMC compliance of other equipment before placing the G122-829A001 close by.

3.2 Cooling

Vents in the top and bottom sides of the G122-829A001 case provide cooling for the electronics inside. These vents should be left clear. It is important to ensure that equipment below does not produce hot exhaust air that heats up the G122-829.

3.3 Wiring

The use of crimp “boot lace ferrules” is recommended for the screw terminals. Allow sufficient cable length so the circuit card can be withdrawn from its case with the wires still connected. This enables switch changes on the circuit card to be made while the card is still connected and operating.

An extra 100mm, for cables going outside the enclosure, as well as wires connecting to adjacent DIN rail units, is adequate.

The screw terminals will accommodate wire sizes from 0.2mm2 to 2.5mm2 (24AWG to 12AWG). One Amp rated, 0.2mm2 should be adequate for all applications.

3.4 EMC

The G122-829A001 emits radiation well below the level called for in its CE mark test. Therefore, no special precautions are required for suppression of emissions. However, immunity from external interfering radiation is dependent on careful wiring techniques. The accepted method is to use screened cables for all connections and to radially terminate the cable screens, in an appropriate grounded cable gland, at the point of entry into the industrial steel enclosure. If this is not possible, chassis ground screw terminals are provided on the G122-829A001.

Exposed wires should be kept to a minimum length. Connect the screens at both ends of the cable to chassis ground.

Description

The G122-824 P-I Servoamplifier is used in closed loop applications where a proportional and/or integral amplifier is needed. Selector switches inside the amplifier enable proportional, integral or both to be selected. Many aspects of the amplifier’s characteristics can be selected with internal switches. This enables one amplifier to be used in many different applications. The configuration options provided are the result of many years of experience in designing and commissioning closed loop systems.

The Servoamplifier employs analog electronics. It accepts three input signals, two single ended and one differential.

These are summed to produce an error signal which is then amplified proportionally and also integrated. The proportional and integral signals are switched together and output as a current or voltage to drive a servovalve.

Front panel trim pots, LED indicators and test points allow fast and easy www.honeywell-diver.com setup and aid in trouble shooting. The servoamplifier is housed in a compact DIN rail mounting enclosure and requires a +24V supply.

Features

P, I or P & I control

User friendly front panel with LEDs and test points

Single ended input, 4-20 mA or ±10 V, switch selectable

Single ended input, scalable

Differential input with zero and gain

Feedback transducer excitation output

Step push button

Optional feedback derivative term

“In position” output

Dither

Enable input

Compact DIN rail housing

CE marked

Switch selections

Input 1 lag on or off

Feedback input 4-20 mA or ±10 V

Input 2 4-20 mA or ±10 V

Proportional control, integral control or both

Integrator input from unity gain or amplified error signal

Integrator limit

Output current or voltage

Output current level

Dither on or off

Plug-in resistors

Input 2 = 100k for ±10 V

Feedback derivative term = not loaded

Proportional gain range = 100k for 1 to 20 range

Input 2 direct to output amp = not loaded

Ordering Information

P-I Servoamplifier G122-824-002

Special configurations can be provided. Consult your Moog sales office to discuss details.

The G122-824-002 is a functional replacement for the -001 version. It adds a 4-20 mA option for input 2. output step push button and  improved thermal performance.

Description

The G122-824 P-I Servo Amplifier is used in closed-loop applications where a proportional and/or integral amplifier is required.

The amplifier’s internal selector switch selects proportional, integral, or both. Many of the characteristics of the amplifier can be selected by the internal switches.

Thus, one amplifier can be used for many different applications. The configuration options offered are the result of many years of experience in the design and commissioning of closed-loop systems.

The servo amplifier uses analogue electronics. It accepts three input signals, two single-ended and one differential.

These signals are summed to produce an error www.honeywell-diver.com signal, which is then scaled and integrated. The proportional and integral signals are switched together and output as current or voltage to drive the servo valve.

Trim potentiometers, LEDs and test points on the front panel allow for quick and easy setup and aid in troubleshooting.

The servo amplifier is housed in a compact DIN rail mounted enclosure and requires +24V power.

Functions

P, I or P & I control

User-friendly front panel with LEDs and test points

Single-ended input, 4-20 mA or ±10 V, selectable by switch

Single-ended inputs, expandable

Differential Inputs with Zero and Gain

Feedback Sensor Excitation Output

Step Button

Selectable Feedback Derivative Terminology

‘In-position’ output

Jitter

Enable Input

Compact DIN rail housing

CE Marking

Switch Selection

Input 1 On or Off

Feedback input 4-20 mA or ±10 V

Input 2 4-20 mA or ±10 V

Proportional control, integral control or both

Integrator input from unity gain or amplified error signal

Integrator limit

Output current or voltage

Output current level

Dither on or off

Plug-in resistor

Input 2 = 100k for ±10 V

Feedback derivative term = unloaded

Proportional gain range = 100k, 1 to 20 range

Input 2 directly connected to output amplifier = not loaded

Ordering Information

P-I Servo Amplifier G122-824-002

Special configurations are available. Consult your Moog sales office for details.

The G122-824-002 is a functional replacement for the -001 version. It adds a 4-20 mA option for input 2. an output step button, and improved thermal performance.