LA6 self liviling device Bpe

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LA6Proportional self levelling digital device

LA6_e.doc Ver.1.03 - 30/08/2006 1/10

BPE S.r.l. – Novellara (RE) - Italy ++39 0522 662357/654175 ++39 0522 653740 [email protected] www.bpe.it

Index

1 Operating logic .......................................................................................................22 Technical data ........................................................................................................ 23 Safety ................................................................................................................... 3

3.1 Electrical safety circuits and system checks .........................................................33.2 Conformity ......................................................................................................3

4 Circuit board map ................................................................................................... 45 Mechanical fitting.................................................................................................... 46 Electrical connections ..............................................................................................5

6.1 Setup ............................................................................................................. 56.2 Terminal block J1: Power supply, inputs and outputs ............................................56.3 Terminal block J2: Serial port RS-232................................................................. 6

7 Calibration .............................................................................................................67.1 Zero calibration via push buttons on the board.....................................................67.2 Parameters modification via push buttons ........................................................... 7

8 Parameters list .......................................................................................................89 Precautions, checks and maintenance...................................................................... 10

9.1 Precautions ................................................................................................... 109.2 Checks and maintenance................................................................................. 10






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3 Safety

3.1 Electrical safety circuits and system checks

The board runs a non stop autocheck to find any breakdown, failure or damage. If any problem is found, the board goes

into the alarm condition. The board is protected against:

• polarity reversal

• inputs overvoltage according to EN 60204 (via tranzorb on board)

• outputs overvoltage, overloading, short circuits according to EN 60204 (via autoreset poliswitches fuse on

board)

3.2 Conformity

The system meets the following EMC specifications:

EN 61000-6-2

EN 50081-1

with standard ferrite core mounted on the power supply cables, with all the two wires winded up two times around the

ferrite core, as shown in the following picture:

Fig. 1: power supply wires and their winding

The system is manufactured to category B (EN 954-1).




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4 Circuit board mapPush buttons

Blue Calibration push button

Red Calibration push button

Yellow Calibration push button

Green Calibration push button

Terminal blocks

J1 Power supply, inputs, outputs

J2 RS-232 serial port

Displays

D1 Various visualizationsD2 Various visualizations

D3 Various visualizations



Fig. 1: Board map

5 Mechanical fittingYou must mount the LA6 electronic board box as shown in fig. 2. This photo show the board when it is in planarity

condition and when the machine is left and right tilt.

Fig. 2: How to mount the board, left and right tilt




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6 Electrical connectionsAll positive inputs must be connected to service positives and not be connected directly to powersupply battery.Dot not use service positives to power supply external devices.

6.1 Setup

Selection of wires

Cabling has to be realized so as to warrant a correct wiring insulation of all parts accessible from operator or however

from unskilled workers (insulation resistance > 1 GΩ x cm). Installation has to be made without wires having hard bends

and without machine moving cause crushes or tractions.

The cables properties must be function of the custom application.

Section of wires

Power supply: 1,5 mm2 for linkages lower than 1,5 m, 2 mm2 otherwise

Connections: standard RS-232

Digital input: 0,5 mm2

Digital and proportional outputs: 0,5 mm2 for low power outputs, 1 mm

2 for high power outputs (see section

“Technical features”)

Analogue input: see the connected transducer specific manual

6.2 Terminal block J1: Power supply, inputs and outputs

Terminal Meaning Notes

1 Positive power supply The contact must be directly connected to the power supply

2 Side “A” solenoid valve positive output -

3 Side “B” solenoid valve positive output -

4 Sides “A” and “B” solenoid valve negative

output

This is the current feedback input.

5 Side “A” signalling positive output Imax = 500 mA. Normally on.

6 Side “B” signalling positive output Imax = 500 mA. Normally on.

7 Digital input for levelling stop and reset The contact must be directly connected to the power supply.

When the positive connection is loose the system stops and

reset its status.

8 - -

9 - -

10 Negative power supply The contact must be directly connected to the power supply

11 Annular mercury switch, side “A”

12 Annular mercury switch, side “B”

NC contact, Imax = 2 A

PLEASE

NOTEThe contact between J1.11 and J1.12 MUST be used, with others safetyswitches, to stop the whole system.




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6.3 Terminal block J2: Serial port RS-232

The drawing shows the poles used by the suppliedconnector. On how to use it, please refer to Fig.2.

Fig. 4: AMP connector

“Modu 2” for RS-232 serial

connection.

7 Calibration

During this phase, never cut off power supply to the board so as not to lose data storage.

Carry out the after assembly checks, if you have not completed them, as shown in chapter “Checks and maintenance”.

7.1 Zero calibration via push buttons on the board

Let’s now look at the setting procedure:

1. Power on the board.

2. On the same time press the BLUE , YELLOW and GREEN push buttons for almost three seconds. The

first “P.” will goes off. Now it is possible to modify the parameters.

3. Press BLUE push button until the display will shows the “0” parameter.

4. Press YELLOW push button to drive side “A” solenoid valve and press GREEN push button to drive side“B” solenoid valve. At the same time the “A” char will be the “H” char to indicate that the system is now on manul

calibration. Level the system with YELLOW and GREEN push buttons.

5. Press BLUE push button until the “1” parameter is reach.

6. Press and take it pressed the RED push button for almost 5 seconds. On every display will be show some “.” and

after them some “-“. The electronic board is now calculating the new zero. After few seconds the display will show

an angle value equal or similar to zero.

7. Press BLUE push button until the “0” parameter is reach.

8. Press RED push button, the display will show “PAAb”. The zero calibration procedure is now ended.




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7.2 Parameters modification via push buttonsLet’s now look at the procedure on how to modify the board parameters, from number 6 to up:

1. Power on the board.

2. On the same time press the BLUE , YELLOW and GREEN push buttons for almost three seconds. The

first “P.” will goes off. Now it is possible to modify the parameters.

3. Press BLUE push button to select the parameter to modify, press GREEN push button to increase it or

YELLOW push button to decrease it. If you take pressed GREEN and YELLOW push buttons, the values

will changes fastest.

If you will press GREEN push button, keep pressed it, press YELLOW push buttons (or press YELLOW

one first and GREEN one after) the values will changes by an hundred any time.

4. To store all parameters, press RED push button (the displays will show some “.”) for almost five seconds until

the display will show some “-“.

5. If you do not press any push button for around ten minutes, the board will come back to the normal operating

conditions (parameters can not be modified).




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8 Parameters listCode Meaning Notes

P.P.nn The “nn” parameter is read only -

P.P. 0 System normal status -

P.P. 1 Tilt angle -

P.P. 2 Percentage opening for solenoid valve side “A” -

P.P. 3 Percentage opening for solenoid valve side “B -

P.P. 4 Current for solenoid valve side “A” -

P.P. 5 Current for solenoid valve side “B -

P.P. 6 Alarm signalling angle value Sets the maximum angle value, under that value the “A” and

“B” signalling outputs will stay on. Over this angle the

signalling outputs will goes off. It may be used to set an

activation percentage for the J1.5 and J1.6 outputs (ie: 90% ofthe alarm level).

P.P. 7 Dead band For angles inside this range the system does not make any

correction.

P.P. 8 Exponential error factor With this parameter is possible to change the system response

to small or big errors. For its small values the system response

is neutral, bigger values will attenuate the small errors and

enphatize the big ones.

P.P. 9 Positive time constant for the dynamic error

compression

Filtering time constant. If it increases, the filtering increases.

It is also the active positive band variation speed,

consequently to its repeated overcoming.

P.P.10 Active positive band Filtering amplitude constant. If it decreases, the filtering

increases.

It is a limit for the contemplated error. If the error value is

greater than this band, it will be used the positive band limit

as the error value. It avoids that the system reacts to fast and

hard movements.

If this value is exeeded several times, the active positive band

value will be increased, according with P.P.9 value.

P.P.11 Negative time constant for the dynamic error

compression

Like P.P.9 but about the negative side of the band

P.P.12 Active negative band Like P.P.10 but about the negative side of the band

P.P.13 Side “A” solenoid valve minimum current This is the minimum current for the side “A” solenoid valve

P.P.14 Side “A” solenoid valve maximum current This is the maximum current for the side “A” solenoid valve

P.P.15 Side “B” solenoid valve minimum current This is the minimum current for the side “B” solenoid valve

P.P.16 Side “B” solenoid valve maximum current This is the maximum current for the side “B” solenoid valveP.P.17 Feedback proportional constant It is the error amplification factor. If it increases, the system

sensibility will increase.

If you increase this value, the system will be more precise, but

it will swing more quickly.

P.P.18 Proportional time constant It is the system reaction time, the speed of the system to self

levelling.

It must be carefully set, together with P.P.17, to obtain a fluid

and comfotable movement. If you increase this value too

much, the system will swing too quickly.




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Advanced calibration parameters:

P.P.19 Feedback derivative constant It is the system answer to time error variations.

It helps to delete the temporary planarity errors.

It is difficult to calibrate this parameter, small values are

sufficient to prevent from rebounds or little swings when the

system stops.

P.P.20 Feedback time constant It is the system reaction time. It defines how the system

react to error variations.

To use together with P.P.19 to extablish what are the

swinging and rebounding speed limits.

High values will make the system to move in jerks, while

low values may balance a too high P.P.17 value

P.P.21 Feedback integrative constant It defines how the system react to small errors for long

time.It is usefull to correct the errors brought by the delaied

levelling corrections. Low values allow to correct the

planarity during continuous boom movements, to avoid that

bigger errors come out.

P.P.22 Time constant It defines the system reaction time, regarding the correction

of small errors for long time.

It is related with P.P.21 and defines the speed of P.P.21

correction.

Too high values bring the system to swing too much, untill

it reaches the alarm condition.

DO NOT MODIFY IT IF YOU DO NOT REALLY

NEED!!




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9 Precautions, checks and maintenance

9.1 Precautions

• You must connect power supply wires directly to the battery.

• Cut off power supply before every check or replacement.

• Do not weld on machine structure before removing power supply (positive and negative) and detaching boxes from

vehicle frame or possible connections towards vehicle frame.

• Provide suitable mechanical protections for connection wires, paying particular attention for transducers.

• Do not place board, transducers or cabling close to sources of heat, electromagnetic interferences or power

transmissions.

• Do not touch directly boards, transducers and boxes with flushing or degreaser fluids under pressure.

• Do not hole the board box.

9.2 Checks and maintenance

A correctly mounted system will not need special maintenance through its operative life.

In this chapter you can find some checks for system functionality. Due to the safety functions of the system, if these

checks are not carried out it can be very dangerous for the operator.

Assembly checks

Check that the board box is horizontal when the system is in planarity condition, as shown in the “Mechanical fitting”

chapter.

After assembly checks

When you assemble the system for the first time you must make some checks:

• Check the power supply to verify its rightness (range and noise absence).

• Check the box lock and glands clamping.

• Check the board shut down through main power supply switch.

Ordinary maintenance to be made at the beginning of every duty cycle

• Visual check of transducers, board (box) and connection wires.

• Check of power supply to verify it is correct.

• Check of the equipment correct operation, by simulating a locked condition and correspondent rearming.

Extraordinary maintenance

Made by skilled workers. Ask BPE S.r.l. or its reseller/or importer. Extraordinary maintenance is considered to be

everything that is not described in ordinary maintenance and in procedure of device installation. Warning: only skilled

workers are allowed to make this type of maintenance; sanction: loss of every responsibility by BPE S.r.l..

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LA6 self liviling device Bpe