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Description
- Component series 1X
- Digital axis controllers for one or two electro-hydraulic axes
- Function: Position, pressure, force, velocity, substitutional closed-loop control (position/pressure or force)
- Communication: Sercos, PROFINET RT, EtherCAT, EtherNET/IP, POWERLINK, optionally PROFIBUS, analog
- Parameterizable via standard Ethernet
Features
- PLC functionality according to IEC 61131-3, optional
- BEST IN CLASS hydraulic controllers
- Bus connection (slave)/Service interface (TCP/IP) switchable by parameters (Sercos, EtherNet IP, PROFINET RT, EtherCAT, PROFIBUS, Powerlink)
- Measurement system of hydraulic axes:
- Incremental or absolute (SSI, Endat2.2)
- Analog ± 10 V and 4 … 20 mA - CE mark according to EMC Directive 2004/108/EC
Product description
Description
The VT-HMC (Hydraulic Motion Controller) is a digital controller with integrated axis controller and programming functionality according to IEC 61131-3 (optional).
The following controller functionalities are available:
- Position control
- Force control
- Pressure control
- Substitutional closed-loop control (position/force or p/Q)
- Velocity control
- Position synchronization master/slave, average, min/max (optional)
This enables, amongst others, the following operating modes:
- Valve direct control
- Drive-controlled position control
- Drive-controlled positioning
- Positioning block operation
- Torque-/force control/valve direct control
Command value presetting is done via the bus interfaces (XF20/XF21 or XF30), via the analog interface (XG20/XG21) or, alternatively, via an internal PLC program. Axis variant 2 enables independent operation or synchronization control of the axes.
The feedback information of the actual value signals to the superior control system is provided optionally either via the bus interfaces (XF20/XF21 or XF30) or the analog/digital interface (XG20/XG21). For function blocks for communication with the superior control system see "www.boschrexroth.com/HMC".
The controller parameters are set via one of the two Ethernet interfaces (XF20/XF21) using the freely available software Indraworks DS (integrated switch functionality).
Monitoring
The digital control electronics enable comprehensive monitoring functions/error detection, including
- Undervoltage
- Communication error
- Cable break for analog sensor inputs (4 ... 20 mA)
- and digital position measurement system
- Short-circuit monitoring for analog/digital outputs
- Monitoring of the microcontroller (watchdog)
- Temperature of the integrated electronics
- Over-current of 24 V sensor voltage and digital outputs
IndraWorks MLD or DS PC program
To implement the project planning task and to parameterize the VT-HMC, the IndraWorks engineering tool (see accessories) may be used:
- Project planning
- Parameterization
- Preparation of the PLC program (IndraWorks MLD requirement)
- Commissioning
- Diagnosis
- Comfortable administration of all data on a PC
- Requirement: PC operating system Windows 7, 8, 10
Slot for one SD memory card
The following data may be saved:
- PLC program
- Any other data
Only SD memory cards with SPI bus connection are supported (no SDHC memory cards).
The card must already be inserted when the device is switched on, otherwise it will not be detected. Cards that are not FAT-formatted are formatted automatically (FAT 32).
The maximum capacity of the supported memory cards is 4 GB.
Type code
| 01 | 02 | 03 | 04 | 05 | 06 | 07 | ||||||||
| VT | – | HMC | – | – | 1X | / | M | – | – | 00 | / | 00 |
| Type | ||
| 01 | Digital axis control for hydraulic drives | HMC |
| Axis controls | ||
| 02 | 1 axis | 1 |
| 2 axes | 2 | |
| Component series | ||
| 03 | Component series 10 ... 19 (10 ... 19: unchanged technical data and pin assignment) | 1X |
| Interface | ||
| 04 | Multi-Ethernet | M |
| Bus connection | ||
| 05 | With Profibus | P |
| Without Profibus | 0 | |
| Software option | ||
| 06 | Standard | 00 |
| Hardware option | ||
| 07 | Standard | 00 |
Included within the scope of delivery:
Mating connector for
- XD1 (Weidmüller BLZF 3.50/03/180F SN BK BX)
- XG20/XG21 (Weidmüller B2CF 3.50/30/180F SN BK BX)
Technical data
general
| Protection class according to EN 60529 | IP 20 | |||
| Ambient temperature range | °C | -20 … +60 | ||
| Maximum admissible temperature change | °C/min | 5 | ||
| Transport temperature range | °C | -40 … +70 | ||
| Recommended storage temperature with UV protection | °C | +5 … +40 | ||
| Relative air humidity | % | 10 … 95 % (without condensation) | ||
| Maximum altitude for use | m | 2000 | ||
| UV resistance | Housing is only conditionally UV-resistant. In case of long-term exposure, the colors may change. | |||
| Transport shock according to DIN EN 60068-2-27 | 15 g / 11 ms / 3 axes | |||
| Sine test according to DIN EN 60068-2-6 | 10 … 500 Hz / maximum of 2 g / 10 cycles / 3 axes | |||
| Noise test according to DIN EN 60068-2-64 | 20 … 500 Hz / 2.2 g RMS / 6.6 g peak / 30 min. / 3 axes | |||
| Free fall (in original packaging, see 61131-2) | m | 1 | ||
| EMC (electro-magnetic compatibility) | EN 61000-6-2 / EN 61131-2 | EN 61000-4-2 ESD | kV | 4 CD / 8 AD with BWK B |
| EN 61000-4-3 HF radiated | V/m | 10 (80 … 2700 MHz) with BWK A | ||
| EN 61000-4-4 Burst | kV | 2 with BWK B | ||
| EN 61000-4-5 Surge | kV | 0.5 / (sym. / unsym.) with BWK B | ||
| EN 61000-4-6 HF conducted | Veff | 10 (150 kHz … 80 MHz) with BWK A | ||
| EN 61000-4-8 Magnetic field 50/60 Hz | A/m | 100 with BWK A | ||
| EN 61000-6-3 / EN 61000-6-4 / EN 61131-2 | EN 55016-2-1 Interference voltage | MHz | 0.15 … 30, class A, EN 55022 | |
| EN 55016-2-3 Radio interference field strength | MHz | 30 … 1000 MHz, class A, EN 55022 | ||
| Installation position | Vertical. For the breathing of the assembly, the ventilation slots of the top and bottom side must be at least 2 cm away from covers, walls, etc. | |||
| Installation | Top hat rail TH 35-7.5 or TH 35-15 according to EN 60715 | |||
| Housing material | Glass-fiber reinforced polyamide plastic | |||
| Resistance against aggressive media | Contact with conductive dusts is not admissible. Avoid contact with hydraulic fluids. | |||
| Weight | kg | 0.6 | ||
| Conformity | CE according to the EMC directive and RoHS directive | |||
Voltage supply
| Operating voltage | Nominal voltage | VDC | 24 | |
| Lower limit value | VDC | 17.5 | ||
| Upper limit value | VDC | 30 | ||
| Maximum admissible residual ripple (40 … 400 Hz) 1) | Vpp | 5 | ||
| Total current consumption | Number of axes | 1 | 2 | |
| Running empty | A | 0,2 … 0,3 | 0,3 … 0,5 | |
| Maximum load 2) | A | 0,9 … 1,1 | 1,8 … 2,2 | |
| Power loss (at 24 V) | W | < 8 | < 14 | |
| External fuse | A | 3.15 time-lag | ||
| 1) | Observe the admissible limits |
| 2) | External fuse protection required |
Analog inputs (AI)
| Number (current or voltage parameterizable) | 4 | 8 | ||
| Resolution 1) | Bit | 14 | ||
| Voltage inputs (differential inputs) | Measurement range | V | –10 … +10 | |
| Input resistance | kΩ | 200 ±10 % | ||
| Linearity at 20 °C | mV | < 20 | ||
| Noise | mV | ± 15 | ||
| Temperature drift | mV/10 K | <12 | ||
| Current inputs (reference to AGND) | Input current | mA | 4 … 20 (0 … 20 physical) | |
| Input resistance | Ω | 100 (measuring resistance plus FET plus diode) | ||
| Linearity at 20 °C | μA | < 20 | ||
| Temperature drift | μA/10 K | <12 | ||
| 1) | related to ±12 V (1.465 mV/Bit) or 20.7 mA (1.27 μA/Bit) |
Digital inputs (DI)
| Number | 4 | 8 | |
| Low level | V | –3 … 5 | |
| High level | V | 11 ... UB | |
| Current consumption at high level | mA | 2 ... 15 | |
| Reference potential | GND | ||
Analog outputs (AO)
| Number (current or voltage parameterizable) | 2 | 4 | ||
| Resolution 1) | Bit | 16 | ||
| Voltage outputs | Output range | V | –10 … +10 (0 … 10 via software) | |
| Minimum load impedance | Ω | 1000 | ||
| Linearity and noise at 20 °C | mV | < 25 | ||
| Temperature drift | mV/10 K | <12 | ||
| Current outputs | Output range | mA | 0 … 20 (4 … 20 via software) | |
| Maximum load | Ω | 500 | ||
| Linearity and noise at 20 °C | μA | < 35 | ||
| Temperature drift | μA/10 K | <12 | ||
| 1) | 0.334 mV/LSB (Least Significant Bit) |
Digital outputs (DO)
| Number | 4 | 8 | |
| Low level | V | 0 … 3 | |
| High level | V | 14,5 … UB | |
| Maximum current carrying capacity | mA | 50 (short-circuit-proof) | |
| Signal delay time | ms | 0.5 … 1.2 (depending on the set performance) | |
| Reference potential | GND | ||
Digital position transducers (encoders):
| Voltage supply for encoder (optional) | +5 Venc | VDC | 5 ±5 % |
| Vencoder_SSI | V | UB … 3 (max. load) … UB (running empty) | |
| Maximum supply current | mA | 300 | |
| Incremental transducer with TTL output | Encoder signals | Two impulse series (A and B, electrically shifted by 90°) and a reference signal (Z) | |
| Signal form | RS485 | ||
| Maximum input frequency | kHz | 250 | |
| SSI transducer 1) | Coding | Gray or binary | |
| Data width | Bit | 18 ... 28 | |
| Transfer frequency | kBit/s | 80 ... 500 | |
| Line receiver/driver | RS485 | ||
| Endat encoder | 2.2 | ||
| 1) | Due to the higher control quality, an SSI transducer with clock synchronization should be used. |
Other information
| Bus systems 1) | PROFIBUS DP (max. 12 MBaud acc. to IEC 61158), Sercos III, PROFINET RT, EtherNet/IP, EtherCAT, Powerlink | ||
| Parameterization interface | Ethernet | ||
| Scan time position controller (minimum) | ms | 0.5 | |
| Booting time | s | <15 (from switch on until the position control system is active) | |
| Supply for sensors Vencoder_ANA | Power supply | V | UB ‒ 4 (max. load) … UB ‒ 2.5 (running empty) |
| Maximum supply current | mA | 100 | |
| 1) | With the EtherCAT (profile CoE) and Powerlink bus systems, support of the second axis is only possible upon request |
(For applications outside these values, please consult us!)
Electrical connection
Controller functions
Pin assignment
XG20, XG21 1), encoder/DIO/AIO
| Signal | Pin | Signal | Pin | |
| Vgeber_ANA (UB) | a1 | AGND | b1 | |
| Ai1+ | a2 | Ai1–/Cin1 2) | b2 | |
| Ai2+ | a3 | Ai2–/Cin2 2) | b3 | |
| Ai3+ | a4 | Ai3–/Cin3 2) | b4 | |
| Ai4+ | a5 | Ai4–/Cin4 2) | b5 | |
| Ao1 | a6 | AGND | b6 | |
| Ao2 | a7 | AGND | b7 | |
| Di1 | a8 | Di2 | b8 | |
| Di3 | a9 | Di4 | b9 | |
| Do1 | a10 | Do2 | b10 | |
| R– | a11 | R+ | b11 | |
| CLK–/A– | a12 | CLK+/A+ | b12 | |
| Data‒/B‒ | a13 | Data+/B+ | b13 | |
| +5Venc | a14 | GND | b14 | |
| Vgeber_SSI (UB) | a15 | GND | b15 |
| 1) | Only with 2-axis variant. XG20 and XG21 can be swapped. The scope of delivery of the 2-axis variant includes coding pins (see operating instructions 30239-B). |
| 2) | Wire current inputs (Cin) only at pin b2 … b5, leave pin a2 … a5 open. Reference potential: AGND (see operating instructions 30239-B) |
XF20, XF21 (Ethernet connections)
| Signal | Pin |
| TD+ | 1 |
| TD– | 2 |
| RD+ | 3 |
| – | 4 |
| – | 5 |
| RD– | 6 |
| – | 7 |
| – | 8 |
XD1, Power
| Pin | Signal |
| 1 | GND |
| 2 | GND |
| 3 | +UB |
XF30, PROFIBUS DP (only for variant "P")
| Pin | Signal |
| 1 | reserved |
| 2 | reserved |
| 3 | RxD/TxD-P |
| 4 | CNTR-P |
| 5 | DGND |
| 6 | VP |
| 7 | reserved |
| 8 | RxD/TxD-N |
| 9 | reserved |
Displays of the Status LEDs
| Status LED | Display status | Status LED | Display status | |
| Module (MS) | digital inputs (Di1 ... Di8) 1) | |||
| Off | No voltage supply | Off | Logic input “0” | |
| Green-red, flashing | Initialization | Green | Logic input “1” | |
| Green, flashing | Drive ready for operation | digital outputs (Do1 ... Do4, V∡) 2) | ||
| Green | Drive active | Off | Logic output “0” | |
| Orange, flashing | Warning | Orange | Logic output “1” | |
| Red, flashing | Error | Profibus (PB) | ||
| Network status (NS) | Off | Bus not active | ||
| Off | No voltage supply | Green | Bus in “Data_Exchange” status | |
| Green | Operation | |||
| SD card (SD) | ||||
| Off | No SD card available | |||
| Green, flashing | SD card not ready for operation | |||
| Green | SD card available and ready for operation | |||
| 1) | 1-axis variant Di1 ... Di4 |
| 2) | 1-axis variant Do1 ... Do2 |
Notice:
For a detailed description of the diagnosis LEDs, please refer to the functional description Rexroth HydraulicDrive HDx.
Components
System overview (example)
Dimensions
Dimensions in mm
| 1) | +15 mm for connecting/disconnecting the plug-in connector |
Project planning information
Maintenance instructions:
- The devices have been tested in the plant and are supplied with default settings.
- Only complete devices can be repaired.
- Repaired devices are returned with default settings. User-specific settings will not be applied. The machine end-user will have to retransfer the corresponding user parameters.
Notices:
- The supply voltage must be permanently connected; otherwise, bus communication is not possible.
- Connectors may only be plugged or unplugged in the de-energized condition.
- In especially EMC-sensitive environments, additional measures must be taken (depending on the application, e.g. shielding, filtration) 1)
- Wiring information
- Maximum possible spatial separation between signal and load lines.
- Do not lead signal lines through magnetic fields.
- If possible, install signal lines without intermediate terminals.
- Do not install signal lines in parallel to the load lines.
- Connect cable shields (see the operating instructions 30239-B)
- For digital inputs and outputs, the max. recommended cable length is 30 m.
- Only use shielded lines for sensors (incremental, absolute or analog). Maximum recommended cable length: 50 m; also observe the sensor manufacturers’ information.
- The signals of the connector XG20/XG21 are not galvanically separated. A potential reference therefore always has to be established when connecting external devices.
- For additional notices, see IndraWorks online help and operating instructions 30239-B.
- The upper and lower ventilation slots must not be concealed by adjacent devices in order to provide for sufficient cooling.
- Observe the installation information in the operating instructions 30239-B.
1) For use in household or small business applications, special precautions, such as installation of a shielded housing and appropriately approved filter systems, are required to fulfill the emission requirements according to EN 61000-6-3.
Ordering codes
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