Bosch Rexroth VT-HNC100 3X/S Series Gebrauchsanweisung

RE 30159, edition: 2012-03, Bosch Rexroth AG

Digital drive controller

for hydraulic axes

withsercos interface

Contents

Features 2

Ordering code 3

Software project planning 4

Overview of the controller functions 4

System overview 5

System overview, interfaces 6

Technical data 7

Pin assignment 12

Unit dimensions 13

Project planning / maintenance instructions /

additional information 14

 Component series 3X

RE 30159

Edition: 2012-03

Replaces: 09.11

H7644

Type VT-HNC100.../S

2/14 VT-HNC100.../S | Digital drive controller

Bosch Rexroth AG, RE 30159, edition: 2012-03

Features

The VT-HNC100...3X/S digital drive controller complies

with the specific requirements for closed-loop control

of hydraulic linear drives.

It is designed for being used in rough industrial environ-

ments as regards interference immunity, mechanical

vibration, shock, and climate resistance.

Areas of application

 Machine tools

 Bending machines

Technology functions

 Positioning

 Velocity controller:

– Controlled

– Regulated

 Force controller

 Substitutional closed-loop control

 Moving without following error

 Quadrant error correction

Hydraulic axes

 Measurement system:

– Incremental TTL 5V

– SSI transducer

– EnDat 2.2

– Analog 0 to ±10 V

 Actuating variable output voltage or current

 Freely conﬁgurable controller variants

– Position / force / velocity controller

– Substitutional closed-loop control (position/force)

Programming

 Via the control with IndraWorks

Operation

 IndraWorks

Process connection

 Digital inputs and outputs,

 Analog inputs and outputs,

 sercos II or sercos III to communicate with a supe-

rior control system

Assembly

 Top hat rail 35 mm

CE conformity

 CE conformity according to EMC Directive 2004/108/EC

and EMVG (Act on electromagnetic compatibility of

operating media) from February 26, 2008

Harmonized standards used:

EN 61000-6-2:2005

EN 61000-6-3:2007

More information

www.boschrexroth.com/hnc100

Digital drive controller | VT-HNC100.../S 3/14

RE 30159, edition: 2012-03, Bosch Rexroth AG

Ordering code

T-HN

Versions for an h

draulic axi

Com

act

Sta

Component series 30 to 39

(

30 to 39: Unchan

ed technical data and pin assi

nment

)

ectio

sercos II

sercos III 1

)

sducer

Incremental

EnDat 2.2

SSI

(

standard

)

EnDat 2.2

(

onl

in connection with Compact version

)

sercos II

(

onl

in connection with Compact version

)

sercos III

(

onl

in connection with Standard version

)

thout

000

VT-HN

–

Available variants

Type Material number

VT-HNC100-C-3X/S-S-00/000 R901112919

VT-HNC100-1-3X/S-I-30/000 R901234133

1) Ethernet service interface only in connection with sercosIII

2) Can be selected by means of the IndraWorks PC program

Included in the scope of delivery:

Mating connector for

 X1S (type Phoenix Mini Combicon 3-pole),

 X2D (type Phoenix Micro Combicon 8-pole and/or Phoenix Mini Combicon 12-pole),

 X2A (type Phoenix Micro Combicon 8-pole and/or HD-SUB 15-pole),

 X8M (type Phoenix Micro Combicon 8-pole and/or HD-SUB 15-pole)

Recommended accessories (can be ordered separately)

Denomination Material number

Interface cable RS232, length 3 m R900776897

USB RS232 converter R901066684

Cable set VT17220-1X/HNC100-3X, length 2 m,

for analog signals (connection X2A) or digital position measurement systems (connection X8M) with

HDconnector and open breakout cable for VT-HNC100-1-3X

R901189300

Cable set VT17220-1X/HNC100-3X length 2 m,

for analog signals (connection X2A) or digital position measurement systems (connection X8M) with

FK-MC connector and open breakout cable for VT-HNC100-C-3X

R901189302

4/14 VT-HNC100.../S | Digital drive controller

Bosch Rexroth AG, RE 30159, edition: 2012-03

Software project planning

Project planning

Developing application-specific data sets forms the basis

for the function of the VT-HNC100...3X/S. These data sets

are generated on the PC and sent to the VT-HNC100...3X/S

using a serial Ethernet interface. This software parameter-

ization is implemented according to fix steps:

1. Depending on the assignment, the inputs and outputs

and the parameters used are defined.

2. The parameters (selection of transducers and control-

lers) are defined.

3. The data are sent to the VT-HNC100...3X/S.

4. The settings are optimized at the machine.

PC program "IndraWorks"

To implement the project planning tasks, the "IndraWorks"

PC program is available to the user. It serves for parameter-

izing, setting, and diagnosing the VT-HNC100...3X/S.

Scope of service:

 Comfortable dialog functions for setting the parameters

online or oﬄine

 Dialog window for the online setting of the param-

etervalues

 Various options for the display of the process variables

Notice:

The PC program "IndraWorks" is not covered by the scope

of delivery.

Queries: support.nc-systems@boschrexroth.de

Overview of the controller functions

Position controller:

 PDT1 controller

 Linear ampliﬁcation characteristic curve

 Direction-dependant gain adjustment

 Adaptation of the valve characteristic curve

 Valve characteristic diagram

 Fine positioning

 Residual voltage principle

 Compensation of zero point errors

 State feedback via:

– Force,

– Position

 Command value feedforward

Force controller:

 PIDT1 controller

 I share switchable via window

 Diﬀerential pressure evaluation

 Additive velocity addition

Velocity controller:

 PI controller

 I share switchable via window

Monitoring functions:

 Dynamic following error monitoring

 Traversing range limits (electronic end switches)

 Cable break monitoring for position transducers

 Cable break monitoring for sensors with out-

put4to20mA

Digital drive controller | VT-HNC100.../S 5/14

RE 30159, edition: 2012-03, Bosch Rexroth AG

System overview

IndraDrive HNC100-C-3X/S

IndraMotion MTX

(CNC control)

IndraWorks

(engineering environment)

Example

Hydraulic axesElectrical axes

6/14 VT-HNC100.../S | Digital drive controller

Bosch Rexroth AG, RE 30159, edition: 2012-03

X7S1

RX SERCOS TX

X7S2

X3C

X8M

X1S

encoder

RS232

X2A

AIO

X2D

DIO

power

GND

18 30V

3.3V RUN BUS

HNC100

System overview, interfaces

Superior control system

Possible interfaces with the VT-HNC100...3X/S:

 Analog signals

 Digital inputs/outputs

 Serial interface

 Bus systems (sercos II or sercos III)

Example of sercos II:

VT-HNC100-C-3X/S with one hydraulic cylinder axis

1Single-rod cylinder

2Integrated position measurement system

3Continuous control valve with integrated control electronics

4VT-HNC100...3X/S

5Connection cable

6Pressure transducer

7Sandwich plate shut-oﬀ valve

(with connector switching ampliﬁer)

Digital drive controller | VT-HNC100.../S 7/14

RE 30159, edition: 2012-03, Bosch Rexroth AG

Operating voltage 1) UB18 to 30 VDC

Current consumption at 24 VDC Approx. 200 mA (observe additional current consumption for con-

nected sensors/actuators)

Processor 32 bit power PC

Analog inputs (AI):

– Voltage input (reference to AGND - Analog ground)

• Channel number 1

• Input voltage UEMax. +12 V to –12 V (+10 V to –10 V measurable)

• Input resistance RE200 k ± 5 %

• Resolution 5 mV

• Non-linearity < 0.2 %

• Calibration tolerance

2) Max. 40 mV (with factory settings)

– Current inputs

• Channel number 2

• Input current IE4 mA to 20 mA

• Leakage current IV0.1 to 0.4 % (with 100  between pin 2 and/or pin 3 (Cin1+ and/or

Cin2+) and "AGND"

• Resolution 5 µA

– Voltage supply for analog sensors

via the VT-HNC100-C-3X/S U, I UB, max. 100 mA at X2A, pin 7 (+24 Vsens)

Analog outputs (AO):

– Voltage outputs

• Channel number 2

• Output voltage Unom –10 V to +10 V (max. –10.7 V to +10.7 V)

• Output current Imax ±10 mA

• Load Rmin 1 k

– Resolution 1.25 mV

– Non-linearity

• In the range –9.5 V to +9.5 V < 0.1 %

• In the range –10 V to –9.5 V and +9.5 V to +10 V < 0.2 %

Technical data VT-HNC100-C-3X/S (Compact)

1) If a 24 V transducer supply is implemented directly via the

VT-HNC100...3X/S (supply voltage is looped in), the transducer

specification has to be observed.

2) If the factory settings are insufficient, the measurement technol-

ogy can be calibrated on site via software in a system-specific way.

8/14 VT-HNC100.../S | Digital drive controller

Bosch Rexroth AG, RE 30159, edition: 2012-03

Bus interface sercos II

Switching inputs (DI) Quantity 4

Logic level log 0 (low) ≤ 5 V; log 1 (high) ≥ 10 V to UB,

Ie= 20 mA with UB= 24 V

Connection Flexible conductor up to 1.5 mm2

Switching outputs (DO) Quantity 2

Logic level log 0 (low) ≤ 2 V; log 1 (high) ≤ UB; Imax = 20 mA,

maximum load capacity C = 0.047 µF

Connection Flexible conductor up to 1.5 mm2

Reference potential for all signals DGND

Digital position transducers (encoders):

– SSI transducer (Due to the higher control quality, an SSI transducer

with clock synchronization should be used.)

• Coding Gray-Code / binary code

• Data width Adjustable 12 to 28 bits

• Line receiver / line driver RS485

• Voltage supply via the VT-HNC100-C-3X/S U, I UB, max. 200 mA at X8M, pin 7 (+24 Venc)

– Position transducer, EnDat 2.2

• Interface (clock and data) according to RS485

• Voltage supply via the VT-HNC100-C-3X/S U, I 5.25 V ±1 %, max. 400mA at X8M, pin6 (+5Venc)

3.6 to 5.25 V must be applied to the transducer.

• Resolution Minimum 10 nm or higher

Reference potential for all signals EGND

Dimensions See page 13

Assembly Top hat rail TH 35-7.5 or TH 35-15 according to EN 60715

Admissible operating temperature range 0 to 50 °C

Storage temperature range –20 to +70 °C

Protection class according to EN 60529:1991 IP 20

Weight m440 g

CE conformity See page 2

Further technical details upon request.

Notice:

For information on the environment simulation testing for the areas EMC (electro-magnetic compatibility), climate and

mechanical load, see data sheet 30139-U.

Technical data VT-HNC100-C-3X/S (Compact) continued

Digital drive controller | VT-HNC100.../S 9/14

RE 30159, edition: 2012-03, Bosch Rexroth AG

Operating voltage 1) UB18 to 30 VDC

Current consumption at 24 VDC CPU card approx. 200 mA

Per axis approx. 100 mA (observe additional current consumption

for connected sensors/actuators)

Processor 32 bit power PC

Analog inputs (AI) per axis electronics:

– Voltage inputs (differential inputs)

• Channel number 2

• Input voltage UEMax. +12 V to –12 V (+10 V to –10 V measurable)

• Input resistance RE200 k ± 5 %

• Resolution 5 mV

• Non-linearity < 0.2 %

• Calibration tolerance

2) Max. 40 mV (with factory settings)

– Current inputs

• Channel number 2

• Input current IE4 mA to 20 mA

• Leakage current IV0.1 to 0.4 %

• Resolution 5 µA

– Voltage supply for analog sensors

via the VT-HNC100-1-3X/S U, I UB,max. 200 mA at X2A, pin 14 (+24 Vsens)

Analog outputs (AO) per axis electronics: 3) 2

– Non-linearity

• In the range –9.5 V to +9.5 V < 0.1 %

• In the range –10 V to –9.5 V and +9.5 V to +10 V < 0.2 %

– Voltage output

• Output voltage Unom –10 V to +10 V (max. –10.7 V to +10.7 V)

• Output current Imax ±10 mA

• Load Rmin 1 k

• Residual ripple ±60 mV (without noise)

• Resolution 1.25 mV

– Current output

• Output current standardized Inom 4 mA to 20 mA

• Load Rmax 500 

• Resolution 0.625 A

Bus interface sercos III

Switching inputs (DI) and/or outputs (DO) per

axis electronics (adjustable via software) Quantity 11

Switching inputs (DI) Logic level log 0 (low) ≤ 5 V; log 1 (high) ≥ 10 V to UB,

Ie= 20 mA with UB= 24 V

Connection Flexible conductor up to 1.5 mm2

Switching outputs (DO) Logic level log 0 (low) ≤ 2 V; log 1 (high) ≤ UB; Imax = 20 mA,

maximum load capacity C = 0.047 µF

Connection Flexible conductor up to 1.5 mm2

Reference potential for all signals DGND

Technical data VT-HNC100-1-3X/S (1-axis version)

1) If a 24 V transducer supply is implemented directly via the

VT-HNC100-1-3X/S (supply voltage is looped in), the transducer

specification has to be observed.

2) If the factory settings are insufficient, the measurement technol-

ogy can be calibrated on site via software in a system-specific way.

3) Configurable as current or voltage output.

10/14 VT-HNC100.../S | Digital drive controller

Bosch Rexroth AG, RE 30159, edition: 2012-03

Digital position transducers (encoder)

per axis electronics:

– Position transducer, incremental

(transducer with TTL output)

• Input voltage log 0 0 to 1 V

log 1 2.8 to 5.5 V

• Input current log 0 –0.8 mA (with 0 V)

log 1 0.8 mA (with 5 V)

• Max. frequency referring to Ua1 fmax 250 kHz

• Voltage supply via the VT-HNC100...3X/S U, I 5.25 V ±1 %, max. 400 mA at X8M1, pin 12 (+5 Venc)

– SSI transducer (Due to the higher control quality, an SSI transducer

with clock synchronization should be used.)

• Coding Gray-Code / binary code

• Data width Adjustable 12 to 28 bits

• Line receiver / line driver RS485

• Voltage supply via the

VT-HNC100...3X/S U, I UB,max. 500 mA at X8M1, pin 14 (+24 Venc)

– Position transducer, EnDat 2.2

• Interface (clock and data) according to RS 485

• Voltage supply via the VT-HNC100...3X/S U, I 5.25 V ±1 %, max. 400 mA at X8M1, pin 12 (+5 Venc)

3.6 to 5.25 V must be applied to the transducer.

• Resolution Minimum 10 nm or higher

Analog position transducer (encoder):

• Input voltage UEMax. +12 V to –12 V (+10 V to –10 V measurable)

• Input resistance RE> 10 M

• Resolution 5 mV

• Non-linearity < 0.2 %

• Calibration tolerance

1) Max. 40 mV (with factory settings)

• Voltage supply via the VT-HNC100...3X/S U, I +10 V ± 25 mV, max. 20 mA at X8M1, pin 13 (+10 Vref)

Reference potential for all signals EGND

Dimensions See page 13

Assembly Top hat rail TH 35-7.5 or TH 35-15 according to EN 60715

Admissible operating temperature range 0 to 50 °C

Storage temperature range –20 to +70 °C

Protection class according to EN 60529:1991 IP 20

Weight m585 g

CE conformity See page 2

Further technical details upon request.

Technical data VT-HNC100-...-3X (1-axis version), continued

Notice:

For information on the environment simulation testing for the areas EMC (electro-magnetic compatibility), climate and

mechanical load, see data sheet 30139-U.

1) If the factory settings are insufficient, the measurement

technology can be calibrated on site via software in a system-

specific way.

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