Front Panel
LED and symbol not on EEA-PAM-513/523/525 amplifiers.
Solenoid current for EEA-PAM-523/525-D models.
Ø2,0 mm (0.0787dia.) sockets.
In the case of EEA-PAM-523/525-D models one of these
relationships may not apply if two single solenoid valves are
connected.
Number and function of potentiometers [7], [8],
[7.2] vary according to model type as follows:
For models -513/541/553-
[1] 24V power supply input, green
[2] 15V control supply output, green
[12] MP1: Conditioned command signal
[14] MP2: LVDT (spool) position
[13] Common ground (0V)
Monitor points
[3] Drive (solenoid) enabled, yellow
[4] Overload, red
[6] Drive level to solenoid, yellow
[7] Deadband compensation, flow P to B
[9] Ramps enabled, yellow
[15] Mode switch
– TEST VALVE setting
– AUTO function setting
– TEST LOOP setting
24/15
P
B
A
[16] Test potentiometer
[17] PID-controller enabled, yellow
[19] Feedback = command signal, green
[21] Feed-forward signal scaling
[23] I-gain
[18] Integrator enabled, yellow
[20] Sensor failure, red
[22] P-gain
[24] D-gain
Potentiometers
LEDs
Potentiometers
[5] LVDT failure, red
[8] Deadband compensation, flow P to A
LED
Potentiometers
[10] Command ramp up
[11] Command ramp down
AUTO
TEST TEST
VALVE LOOP
0
–+
V
P
I
D
t
t
1
2
3
4
5
6
LEDs
[25] MP3: Command signal
[27] MP6: Integrator output
[26] MP5: PID-controller output
Monitor points
[28] MP4: Feedback signal
[7.2 ] O ffset
January 1996 GB-2474
EEA-PAM-5**-D-32 Series
General Description
The EEA-PAM-5**-D-32 Eurocards are
power amplifiers with integrated PID
modules. Each of these cards replaces
two conventional electronic cards.
Features and Benefits
Includes all features of “A” amplifiers
(except gain)
User configurable PID feed-forward,
closed-loop operation
Command input ramps
Analog feedback sensor interface
Automatic switch-over p/Q function
Built-in test feature
The design reduces the amount of
external wiring, saves space in the rack
enclosure and requires only one 24V
supply
The general purpose, integrated
module can be configured using DIL
switches (D1-D9) and potentiometers
for the following applications:
– Closed-loop pressure control using
either proportional pressure valves or
servo-performance proportional
valves
– Closed-loop velocity control
– Closed-loop position control
– p/Q control with internal or external
switch-over from Q to p
The DIL- switch and potentiometer
settings can easily be reconfigured on
different cards
This product has been designed and tested to meet specific standards outlined in the European Electromagnetic Compatibility
Directive (EMC) 89/336/EEC, amended by 91/263/EEC, 92/31/EEC and 93/68/EEC, article 5. For instructions on installation
requirements to achieve effective protection levels, see this leaflet and the Installation Wiring Practices for Vickers Electronic
Products leaflet 2468. Wiring practices relevant to this Directive are indicated by Electromagnetic Compatibility (EMC) .
Vickers®
Accessories
Power Amplifiers with PID Modules
Model Codes
2
Amplifier model For valves
EEA-PAM-513-D-32
EEA-PAM-523-D-32
EEA-PAM-525-D-32
EEA-PAM-533-D-32
EEA-PAM-535-D-32
EEA-PAM-541-D-32
EEA-PAM-553-D-32
EEA-PAM-561-D-32
EEA-PAM-568-D-32
EEA-PAM-571-D-32
EEA-PAM-581-D-32
KCG-3, KCG-6/8
KX(C)G-6/8
K*G4V-3, KDG5V-5/7/8
K*G4V-5
KF*G4V-3
KF*G4V-5
KHDG5V-5/7/8 with zerolapped mainspool
KSDG4V-3
KFDG5V-5/7
KFDG5V-8
CVU-**-EFP1
KHDG5V-5/7/8
}With type “H”
coils only
Operating Data
Power (input) supply bz32 See appropriate base amplifier, e.g. for
EEA-PAM-535-D-32 see EEA-PAM-535-A-32
Control (output) supplies z22 +15V for LVDTs only
Reference voltages z2
b2 +10V x 5 mA
–10V x 5 mA
Analog inputs:
Command inputs
Direct-voltage inputs b6, b8, b10, z8
Inverting-voltage input z10
Voltage range
Input impedance (voltage)
Current input z6
Current range
Input impedance (current)
Feed-forward input d8
Input impedance
Voltage range
Input to ramp generator d28
Input impedance
Voltage range
Inputs from sensors
Voltage input d2
Input impedance
Voltage range
Current input
Input impedance
Current range (See “DIL Switches” five pages on)
Monitoring of sensor failure for sensors with a current outout only
"10V
47 kΩ
"20 mA
100Ω
6 kΩ
"10V
10 kΩ
"10V
1 MΩ
0 to 10V, or "10V
100Ω
4-20 mA or 0-20 mA
The demand signal should have the same voltage range as the sensor feedback, Continued on next page
i.e. 0 to 10V, or "10V.
3
Digital inputs:
Drive enable (power available to solenoid) z24
Ramps enable b24
Integrator enable d14
PID-controller enable d12
Enabled
Disabled
Load current
Warning: In a power -up sequence, the integrator should
not be enabled until all hydraulic, electric and control
power and signals are applied and stable. Abrupt or
unpredictable motion may occur if integrator is enabled
during this transition time.
17 to 40V
0 to 3,5V
v10 mA
Digital outputs:
Sensor failure d18
Sensor failure
Sensor o.k.
Load current (withstands a continuous short-circuit condition)
This output may be used only in conjunction with sensors
providing a current output (4-20 mA)
Feedback = command signal d10
Feedback matches demand
Feedback does not match demand
Load current (withstands a continuous short-circuit condition)
The load at pin d18 and pin d10 has to be connected to ground
Vcc –2V
<3V
v100 mA
Vcc –2V
<3V
v100 mA
Analog outputs:
PID-controller output d4
Error signal d22
Feedback signal d24
Load impedance
Voltage range
Output from ramp generator d26
Load resistance
Voltage range
w10 kΩ; short-circuit proof
"10V
w5 kΩ; short-circuit proof
"10V
Alarm output (drive output status): z12
Set alarm
Signal
Reset after failure
Enable amplifier (on pin z24) >500 ms after switching
power on.
HIGH when alarm is activated.
Output = Supply volts minus 2 volts.
I = 50 mA max.
LOW when solenoid overload has occurred.
(Maintained until reset).
Output = 0 to +/–2 volts.
Output resistance = 50 ohms.
Disable and re-enable on pin z24.
Ramp active indicator: b12
Drive ramping up
Drive ramping down
Drive not ramping
Output resistance
Output >10V
Output <–10V
Output 0"10V
10 kΩ
Drive signal zero indicator: b20
Drive signal at null (within deadband limits)
Drive active
Output resistance
Output = Supply minus 1,5V; I = 50 mA max.
Output = 0"2V
50Ω
Continued on next page
Warning: Electromagnetic Compatibility (EMC)
It is necessary to ensure that the valve is wired up in accordance with the connection arrangements shown in this leaflet. For effective
protection, the user’s electrical cabinet, the valve subplate or manifold and the cable screens should be connected to efficient earth
(ground) points. The metal 7-pin connector part no. 934939 should be used for the integral amplifier.
In all cases, both valve and cable should be kept as far away as possible from any source of electromagnetic radiation such as cables carrying
heavy current, relays and certain kinds of portable radio transmitters, etc. Difficult environments could mean that extra screening may be
necessary to avoid the interference.
4
Potentiometers:
Feed-forward
P-gain (depends on DIL switch D2):
I-gain range
D-gain range
Sensor signal gain range
Sensor signal offset range
V = 20% to 100%
P = 0,1 to 50V/V
Ki = 0,5 to 100 V/s/V
Kd = 0 to 0,05 V/V/s
90% to 120%
"10%
Monitor points:
Conditioned command signal MP1
LVDT (spool) positionMP2
Command signal MP3
Feedback signal MP4
PID-controller output MP5
Integrator output (100%, independent of D3, D4, D5) MP6
Voltage range
Monitor point impedance "10V
10 kΩ
Ambient conditions:
Storage temperature range
Operating temperature range –25 to +85C (–13 to +185F)
0 to 50C (32 to 122F)
Mass 0,4 kg (0.88 lb) approx.
Installation and start-up guidelines (supplied with product)
Installation wiring requirements for V ickers electronic products
Application notes (available on request)
9161
2468
9056
Supporting products:
Power supply unit options
Electronic accessories
Portable test equipment
See catalogs:
2419
2460
2462 and 2315
Located on PID module.
All amplifiers except EEA-PAM-523/525 models, in which solenoid current is monitored.
Circuit and Connections
EEA-PAM-5**-D-32
PID-
controller
enabled
d16
b12
d12
z8
b10
b2
z2
d8
b8
b6
z10
z6
bz4
b24
d28
d26
b28
b26
b16
b14
z16
z14
z18
b18 z22
d14
Close t o enable
PID- controller
24V DC
Power
supply
Drive output
status
+15V
+10V 5 mA
–10V 5 mA
z24
24V Power supply
Power
amplifier
z22
+15V
Close to enable
+24V
d4
Output enable
Pilot stage
LVDT
Main stage
LVDT
Close to enable
integrator
MP1
MP2
b20
Gain
Ramp
Inverter
d22
d18
d10
d24
Power amplifier
PID control module
Current command signal
Voltage
command
signals
Control zero
Ramp active
Ramp enable
+10V
Connect to +10V (z2)
for p/Q control with
automatic switch-over
only
Feed forward
XU
Sensor 0 to +10V
or sensor "10V
Sensor 0 to 20 mA
or sensor 4 to 20 mA
Sensor failure
Feedback =
command signal
Conditioned
feedback signal
Sensor
failure Feedback =
command signal
Error signal
Integrator
enabled
I-gain
I
IMP6
D
D-gain
P-gain
P
D
MP3
V
Feed
forward
Test valve
Polarity +
–
D7
MP5
Gain Offset
MP4
Test loop
PID-controller output
Read circuit in conjunction with that for
relevant base amplifier EEA-PAM-5**-A
+
–
D6
D5D3 D4
6% 50%
35%
Power zero
+
–
+
–
P
+
–
Customer’s protective ground connection.
+24V
"15V
Overload
LVDT
failure
Solenoid
current
Non-invert
1-10%
error
Enable
Close to enable
+24V
+24V
d2
d6
+24V
D9
bz30
bz32
z28
z26
z12
Deadband
compensation
Dither
PWM
To solenoid
To solenoid
Valve. Actual connections
see table on next page.
5
Solenoid and LVDT Connections for Proportional Valves
6
Amplifier type Solenoid
with LVDT
and/or for
Solenoid
without LVDT,
or on pilot
Pilot-stage LVDT,
(black plug): Main-stage LVDT,
(gray plug):
an
d/
or
f
or
flow P to B or on p
il
o
t
valve Pin 1 Pin 2 Pin 3 Pin 4 Pin 1 Pin 2 Pin 3 Pin 4
EEA-PAM-513-D-32
EEA-PAM-523-D-32
EEA-PAM-525-D-32
EEA-PAM-533-D-32
EEA-PAM-535-D-32
EEA-PAM-541-D-32
EEA-PAM-553-D-32
EEA-PAM-561-D-32
EEA-PAM-568-D-32
EEA-PAM-571-D-32
EEA-PAM-581-D-32
b26/b28
b26/b28
b26/b28
b26/b28
b26/b28
–
–
–
–
–
–
–
z26/z28
z26/z28
z26/z28
z26/z28
z26/z28
z26/z28
z26/z28
z26/z28
z26/z28
z26/z28
–
–
–
–
–
z14
–
–
–
–
z14
–
–
–
–
–
z22
–
–
–
–
z22
–
–
–
–
–
z16
–
–
–
–
z16
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
–
–
–
b14
b14
b14
b14
b14
b14
b14
b14
–
–
–
z22
z22
z22
z22
z22
z22
z22
z22
–
–
–
b16
b16
b16
b16
b16
b16
b16
b16
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
128.4
(5.06) 100
(3.94)
175,24 (6.9)
14
(0.55)
14,2 (0.56)
7,2
(0.28)
8 (0.31)
2,5
(0.1)
Components envelope
DIN 41612 F48 male connector.
Mating connector must be an
F48 female type.
z - pin row
b - pin row
d - pin row
3rd angle
projection
7,92
(0.31)
122.4
(4.82)
7,45
(0.29)
3
(0.12)
50,3
(1.98)
3
(0.12)
Model
designation
M2,5 x 11 (0.43) long collar
screws supplied with panel for fixing
Plug-in Unit of 3U height, to IEC 297
Installation Dimensions in mm (inches)
Application Notes
Factory setting
123456 87ON
OFF
910 Location of User Features on
PID Module
Offset potentiometer
(sensor signal) Gain potentiometer
(sensor signal)
Test point “D”
D-gain
Test point “P”
P-gain
Test point “I”
I-gain Test point “V”
Feed-forward gain
DIL
switches
Potentiometer
In Position
1%-10%
7
DIL Switches
The controller is configured for the
application using DIL switches, located on
the board.
The DIL switch operates as follows:
Switch ON OFF
D1: For sensors with 4 to 20 mA output For sensors with "10V or
20 mA outputs
D2: P-gain 2 to 50 P-gain 0,1 to 2
D6: One-sided limitation of the integrator
output. (Only useful for proportional
pressure and proportional throttle
valves.)
No limitations of integrator
output
D7: Inverts the controller output signal Non-inverted signal
D8: For sensors with 4 to 20 mA output For sensors with "10V or
20 mA outputs
D9: Ramp signal not inverted Ramp signal inverted
D10: Not used –
For p/Q control with automatic
switch-over, connect d16 to z2 (+10V).
The flow command signal (Q) is applied to
the feed-forward input, d8, and the
desired pressure setpoint voltage applied
to a command signal input (b6/8/10 or
z6/8/10). The pressure feedback sensor
is connected to the sensor input d2, or d6
as required.
The pressure control loop will override the
flow command to limit the pressure to the
level determined by the pressure setpoint
voltage. Adjust P, I and D gains for best
performance.
The switches D3, D4 and D5 belong
together. They limit the I output volts
between 100% (10V) and 5% (0,5V) as
follows:
D3 D4 D5 l-limit
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
100%
50%
35%
25%
5,9%
5,8%
5,3%
5,0%
Reconfiguration of Controller
Parameters
Once the controller parameters have
been optimized and set, they can be
measured by means of an ohmmeter.
This allows easy reconfiguration of the
controller on different cards for use as
spare parts or on standard machine
series.
Four test points are located on the
PID-module for this purpose, see diagram
for locations. The resistance between the
appropriate test point and ground (at the
front panel monitor point) determines the
controller parameters:
P = P-gain
I = I-gain
D = D-gain
V = Feed-forward gain
Operation of the Integrated Test Mode
The basic operation of the hydraulic
actuator can be tested by using the
3-position mode switch mounted on the
front panel. To select different modes the
toggle switch must be lifted slightly
before turning it to a new position.
Caution:
Before setting the mode switch to either
“Test valve” or “Test loop” make sure the
test potentiometer is set to “0”.
Otherwise sudden movements of the
actuator may occur.
The mode switch has three positions:
AUTO
The controller operates in closed-loop
mode, using the external command
signal. The test potentiometer is
disconnected.
TEST VALVE
An open-loop command signal for the
valve comes directly from the
potentiometer. The external input signal
is disconnected. The hydraulic part of
the system may be tested in this
configuration.
TEST LOOP
The closed-loop command signal for the
PID-controller comes directly from the
potentiometer. The external signal input
is disconnected. This configuration
allows for verification of the valve
polarity and the control parameters.
Test potentiometer
on front panel
Controller
External
command
signal
To
power
amplifier
Mode switch
on front panel
AUTO TEST
VALVE
TEST
LOOP
Printed in U.S.A . E Eaton Hydraulics, Incorporated, 2000
All Rights Reserved
