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Digital Amplifier And Controller ER9.3-10

For Displacement Control of EATON Variable
Piston Pumps in X and W Design
Digitaler Reglerverstrker ER9.3-10
zur elektrohydraulischen Pumpenreglung
der EATON Axialkolbenpumpen
X und W Design
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Table of Contents
Features.................................................................................................................... 28
Function .................................................................................................................... 29
Technical Data.......................................................................................................... 30
Pin Assignment on Back Connector X1 .................................................................... 32
Display and Keypad .................................................................................................. 33
Setting of Parameters ............................................................................................... 34
Setting of Parameters Using the Keypad .............................................................. 34
Recall Default Values of a Single Parameter..................................................... 35
Recall Default Values of all Parameters ............................................................ 35
Setting Parameters Using RS232 Serial Interface and PC.................................... 36
Setting Values........................................................................................................... 36
Digital Set Values .................................................................................................. 37
Analog Set Values................................................................................................. 37
Ramp Function ......................................................................................................... 38
Controller Structure................................................................................................... 38
Test Jacks................................................................................................................. 40
Display Parameters................................................................................................... 40
Analog Output........................................................................................................... 40
Comparator............................................................................................................... 40
Break Function.......................................................................................................... 40
Fail Safe Function ..................................................................................................... 40
List of Parameters as delivered condition .............................................................. 41
Commissioning ......................................................................................................... 44
Non Warranty ........................................................................................................ 44
Wiring .................................................................................................................... 44
Installation of Electronic Card................................................................................ 45
Verification of Parameters ..................................................................................... 45
Switching on the Pump.......................................................................................... 45

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Adjustment of Zero Point on Swash Plate Angle Sensor....................................... 45

Verification of Control Behavior ............................................................................. 47
Modifying Sensor Gain .......................................................................................... 47
Closed Loop Function ........................................................................................... 47
Saving Parameters................................................................................................ 47
Hint........................................................................................................................ 47
nderung / Revision.................................................................................................. 48

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Features
The digital amplifier and controller card ER9.3-10 is used for displacement control SP of EATON
variable piston pumps in X and W design. The swash plate is positioned by a Vickers Proportional
Valve KDG4V-3. The digital amplifier and controller card meet the industrial standard for EMC
EMV 89/336/EEC, which ensures a high interference security and low interference emission. The
electronic card is tested according to DIN EN 60068-2-6 (vibration) and DIN EN 60068-2-27
(mechanical shock). The electronic card features a display and six buttons to change the card
parameters. Parameterisation of the digital amplifier and controller card is also possible by using the
enclosed software tool ER9.3-Tool via a serial RS232 interface.
The system features are:

X 

Differential amplifier input for set points in the range of 0 10V, 14 bit resolution.
Additional single ended, independent set point inputs, (one for the range of 0 10V, 14 bit
resolution; the other for the range of 0 ... 20 mA / 4 ... 20 mA , 14 bit resolution).
Integrated reference supply voltage of 10 V (10 mA max.), to supply set point potentiometer or
actual value transducer.
Four storable and adjustable digital set points (one additional point is optional)
Two, independent, analog set point inputs with 14 bit resolution and a high adjustment range
(depending on input 0 ... 12 V or 0 ... 20 mA / 4 ... 20 mA).
Direction externally set through + and - inputs.
Enable signal for output stages.
Ramp function and Reset-Ramp for fast ramp function zeroing.
Status outputs: Error and Comparator
All digital inputs and outputs are optically isolated for functional security.
Four 7-segment displays and six buttons for display and functionality ease.
Function indication through front panel by LEDs.
Additional switching output (24 V, max 1A) to directly disable safety valve.
Additional front panel test jacks for easy commissioning.
Serial interface RS232.

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Function
Fig. 1 shows an EATON swash plate pump in W design with proportional valve adjustment
displacement control SP. The ER9.3-10 card measures the actual position of the swash plate using a
swash plate sensor, compares the swash plate angle with the set value, and drives a Vickers
proportional valve (KDG4V-3). The valve ports are connected to the servo cylinder of the pump. The
position of the swash plate angle, the displacement and the pump outlet flow are proportionally
changed to the set value. In the static state condition (i.e. set value is equal to actual swash plate
angle) the valve spool is in middle position. If the set value is changing, the valve is working until the
desired value is reached.

RP0

IO1

IO2

SP1

SP2

SP3

Proportional Valve
Vickers KDG4V-3

Solenoid A

IO3
SP4

PW
ER
EN

Solenoid B

+
-

X2

Set Value

Swash Plate
Sensor

Servo Cylinder

Swash Plate Angle

ER9.3-10

Yoke

+100 %
100

-100
-100 %
-10
-100 %

10
+100 %

Set Value U/I

Fig. 1: Function of SP-Control

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Technical Data
Parameters

Range, characteristics

Supply voltage

DC 18 ... 30 V, residual ripple < 10%

Solenoid systems selection

0.8 A / 1.1A / 1.3 A / 1.6 A / 2.4 A / 2.7 A / 3.5 A

Power input

Max. 50 VA

Applicable fuse (quick)

3.15 A

Auxiliary voltage

10 V, max. load 10 mA.

Control voltage for external

24 V 10%, residual ripple 10%

recallable set point

current input 20mA each

Ambient temperature

0 C ... 50 C(other range on request)

Storage temperature

- 20 C ... 60 C

Plug connection

DIN 41 612, 48 pol. form F gold plated

EMC
Protection

Burst on wires as per EN 61000-4-4

HF-Field as per EN 61000-4-3
ESD as per EN 61000-4-2

Emissions

Emissions depending on power as per EN 50011

Radiated emissions as per EN 55011

Additional Certifications
Vibration

All directions as per DIN EN 60068-2-6

Shock

All directions as per DIN EN 60068-2-27

Dimensions
Front panel/ PCB

50,5 x 128,4 mm; 10 TE / 3 HE / 100 x 160 mm Euro format

Input signals
Analogue set values

1 input, differential 14 Bit resolution, 0 ... 10 V

1 input, single ended 14 Bit resolution, 0... 10 V
1 input, single ended 14 Bit resolution, 0 or 4...20 mA

Analogue feedback
(sensor input)

1 input, 14 Bit resolution, 0... 12 V, 0...20 mA / 4...20 mA, Offset: 3..10

V, Gain: ca. 0 ...14 (R=100 Ohm)
1 input, 14 Bit resolution, 0... 10 V

Digital inputs

8 inputs, voltage level 0 V / 24 V 10 mA

(Set point S1.01 ... S1.04, ENABLE, RAMP 0 , SIGN + , SIGN -)

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Parameters

Range, characteristics

Output signals
Solenoid current

2 output stages for up to 3.5 A; with over-energization and quick deenergization

Analog output

1 output, 12 Bit resolution, 0 .. 10 V for controlling subsequent

electronics

Monitor output

1 output, 12 Bit resolution, 0 ... 10 V; for monitoring internal values

Digital outputs

2 outputs, voltage level 0 V / 24 V,

10 mA (Error, Comparator)

Test jacks

Solenoid current, sensor 1, set value, monitor and GND

Auxiliary voltage

10 V, max. load 10 mA

Interface

RS232 with 9-pol Sub-D connector on front panel and a second

connector is available on the back

Display and operation

4 digit display, 6 buttons (up, down, left, right, enter and Esc)
Status-LEDs: PW (Power), ER (Error), EN (Enable), SP1 ...SP4 (S1.01
... S1.04), RP0 (Ramp = 0),

Frequencies and cycle times

PWM Frequency

18 kHz

Cycle times

Current controller ca. 0,22 msec

Inner closed loop controller ca. 0,22 msec (for valve feedback)
External closed loop controller 2 ca. 0,44 msec

Table 1: Parameters of digital controller card ER9.3-10

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Pin Assignment on Back Connector X1

Table 2 shows the pin assignment on the 48 pin connector of card holder HC000000315303. Values
in brackets {} have no function in proportional valve adjustment displacement control mode (SP). The
wiring scheme, necessary for SP-Control is shown in Fig. 7. Additional wiring, e.g. to use monitoring
function, can be done optional by customer.
Pin

0 V (External)

DIO 1 (S1.08 if
activated)

- Sign (direction) digital set

values

Digital set value 2 (S1.02)

{DIO 2 / Channel-B}

+ Sign (direction) digital set

values

Digital set value 3 (S1.03)

{DIO 3 / 0-Pulse}

Digital set value 4 (S1.04)

ENABLE (DI 1)

Reserved

Digital set value 1 (S1.01)

10

Sensor 1 (FB 1) UE, IE

Analog output

{RxD (RS232)}

12

Analog set value 6 UE+

(S1.06)

{TxD RS232}

Analog set value 5 UE+

(S1.05)

14

ERROR (DO 1)

COMPARATOR (DO 2)

{Sensor 2 (FB 2) UE}

16

Analog set value 6 UE(S1.06)

{reserved}

Analog set value 7 IE (S1.07)

18

Digital GND

PE

Ramp = 0 (DI 2)

20

Reference output - 10.0 V

Break output 24 V / 1 A

Reference output + 10.0V

22

Solenoid output A -

Solenoid output A -

Solenoid output A -

24

Solenoid output B -

Solenoid output B -

Solenoid output B -

26

0 V (Power)

0 V (Power)

Analog GND

28

Solenoid output A +

Solenoid output A +

Solenoid output A +

30

Solenoid output B +

Solenoid output B +

Solenoid output B +

32

+ 24 V (Power)

+ 24 V (Power)

24 V (External)

Table 2: Pin Assignment 48 pin connector

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Display and Keypad

ATTENTION
The electrical wiring must be checked before switching on the supply voltage. Limit
switches and safety devices must be activated to avoid uncontrolled movements.
Carefully follow relevant safety regulations. Suitable emergency stop measures must
be taken.
Status-LED
Digital Setpoint
Rampe deactivated S1.08
RP0

Status LEDS

RP0

IO1

IO2

IO3

SP1

SP2

SP3

SP4

RIGHT
UP
LEFT

ER
EN

SP2

SP3

Not used

IO3
SP4

PW
ER

Error

PW

IO2

SP1

Power

IO1

Enable

Status LEDS+ / -

X2

Status-LEDs for
Digital Setpoints
S1.01 - S1.04

EN

X2

DOWN

Display 4-Digit
7-Segments

ENTER
ESC
Solenoid A

Interface RS232

Solenoid B
Setpoint

Diagnose
Connector for
2 mm Plug

ER9.3-10

Actual
Value
Ground
Displayparameters (d1.01 - d1.13)
ER9.3-10

Fig. 2: Display and keypad

Fig. 2 shows the front face of the ER9.3-10 card. The function of these elements is described in
Table 3. The sockets A and B can be used to measure the solenoid currents independently. The
voltage is approximately 1V at 1A. The analogue set point S1.06 can be measured at the socket
SET. The representation is 1:2 proportional to the measured value (half the set point voltage). At the
socket FB1 the actual analog feedback value (d10) can be measured. The reading is proportional to
the actual value and has the relation of 1:2.
Element
Status LEDs
LEDs
Display
Buttons UP,
DOWN, LEFT,
RIGHT, ESC and
ENTER
Serial interface
Measuring and
test jacks

Function
display the status and signals Power, Error, Ramp zeroing and digital I/O
display the set point direction through polarity signs for parameters and measured values
4-digit display of parameters and measured values
all operating, programming and saving may be performed with the buttons UP, DOWN, LEFT,
RIGHT, ESC and ENTER

RS232 - programming and accessing parameters via PC, communications to machine, or

from amplifier to amplifier
Direct measurement of set point (SET), actual value (FB1), solenoid currents (A and B) and
internal values via the monitor output. (d1.01 ... d2.13) (Use 2 mm sockets)

Table 3: Function of display components

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Setting of Parameters
The digital controller and amplifier ER9.3-10 has a display and keypad to change the card parameters.
Additionally, it is possible to change the card parameters using the enclosed ER9.3-Tool with a PC via
the RS232 serial interface on the front.

Setting of Parameters Using the Keypad

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Recall Default Values of all Parameters

Recall Default Values of a Single Parameter

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Setting Parameters Using RS232 Serial Interface and PC
Remote operation or remote parameter adjustment may be executed through the RS232 serial
interface. The following transmission parameters are applicable:
Transmission rate:
19200 baud
Data format:
8 data-bits, 1 stop-bit, no parity
Terminal emulation: TTY
Voltage level:
12 V
The connection cable must meet the following requirements:

Use a null modem cable

The card connection is a 9-pole SUB-D female connector
For the connection use a 3-poled cable
Pins 1, 7 and 9 should be unassigned
RxD is assigned to pin 2
TxD is assigned to pin 3
GND is assigned to pin 5
The pins 4, 6 and 8 are internally shorted (null modem cable).

Table 4 Shows the pin assignments for the 9-pin socket on the front panel.
Pin
1
2
3
4
5
6
7
8
9

Signal
Reserved
RxD
TxD
Connected with Pin 6 and Pin 8
GND
Connected with Pin 4 and Pin 8
Reserved
Connected with Pin 4 and Pin 6
Reserved

Table 4: Pin connections

Wrong pin assignments will result in the following fault messages:
Display
---d
there is an error at pin 1 (wrong data)
---c
there is an error at pin 7 (time out)
no display possible error at pin 9 (short circuit at GND).
The proper cable to connect the ER9.3 card and a PC is also available from Eaton Fluid Power
GmbH, Germany (Order number: HC000000316911). The length of the cable is about 2.50 m.
Parameter editing can be done using the enclosed ER9.3-Tool. The tool allows editing, downloading,
uploading and saving single parameters or parameter sets. The software tool includes a
comprehensive online help.

Setting Values
The ER9.3 card offers the possibility to set three analog and 4 + 1 digital values. Fig. 3 shows the
block structure and links between values.

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Fig. 3: Block diagram of Input Signals

Digital Set Values

Digital set points are programmable, and are activated by digital inputs. Four (optionally five) of these
programmable set points can be selected with the respective input and an associated direction + or
-. Digital set points are assigned and saved in parameters S1.01, S1.02, S1.03, S1.04 and S1.08.
The optional use of set point S1.08 is selected with parameter E17. The inputs are opto-decoupled
and can be controlled directly from the PLC.
If both directions + and - are selected at the same time, none of the selected set points will be activated. If
no direction is selected, no set point will be activated. All four (or five) digital set points are passed
through the ramp function generator. All set points are additive and include no direction information
themselves. If several set points are selected at the same time, the sum of these set points is subsequently
processed. With binary combinations a total of 16 values can be selected. When parameter S1.08 is
activated 32 different set points can be selected.

Analog Set Values

The set points S1.05 and S1.06 are designed for voltage signals 0 ... 10 V. The set point S1.07 is
designed for a current signal 0 ... 20 mA (or 4 ... 20 mA), with a resistance of 250 . By selecting the
corresponding offset, the base current of 4 mA can be compensated. If E08 = 1, the set points are
passed through the ramp function generator (ramp). If parameter E08 = 0, the analog set points
bypass the ramp function. The set points S1.05, S1.06 and S1.07 are calculated according to their
polarity with the other set points. The input S1.05 is measured against analog GND (terminal 26z)
The input for S1.06 is designed as a differential input within the operating voltage range 15 V. The
signals for set points S1.05 and S1.06 must be standardized to 10 V otherwise the A/D converter is
overloaded.

ATTENTION!
To suppress interference unused analog set points must be bridged to analog
GND or be deactivated with parameter E17.
The analog set points S1.05, S1.06 and S1.07 are not real parameters; they
represent an external set.

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Ramp Function

Digital set points are integrated according to the ramp function generator. For each change in direction the ramp
time can be independently set from 0 to 39.5 sec (0.01 sec resolution).

The ramp characteristics are as follows:

r1.01
r1.02
r1.03
r1.04

0 to negative values
negative values to 0
0 to positive values
positive values to 0

+U
r1.04
r1.03
0
r1.01
r1.02
-U
Time t

Fig. 4: Explanation of Ramp Parameters

E08 = 0
E08 = 1
E08 = 2

effects only digital set points, constant time base and linear
effects all set points, constant rise rate and linear
not used

The ramp function generator can be immediately set to 0 with a high signal at the terminal 18 z.
10

S1.01 = 2.00 V, r1.03 = 4.00 s

S1.01 = 8.00 V, r1.03 = 4.00 s

10
S1.01 = 2.00 V, r1.03 = 4.00 s
S1.01 = 8.00 V, r1.03 = 4.00 s

8
V

V
8

a)

2
Time t

3
s

b)

3
s

Time t

Fig. 5: Ramp function: a) E08 = 0, constant time base, b) E08 = 1, constant rise rate

Controller Structure
Fig. 6 shows the complete controller structure for a proportional valve adjustment displacement
control. It also gives information about the definition and mode of action for the controller parameters.

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Analogous
const.time

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Solenoid B

Prop.-Valve
Vickers
KDG4V

Solenoid A

Swashplateangle

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Test Jacks

The sockets A and B can be used to measure the solenoid currents independently. The voltage is
approximately 1V at 1A. The analogue set point S1.06 can be measured at the socket SET. The
signal is proportional to the measured value (1:2\half the set point voltage). At the socket FB1, the
actual analog feedback value (d10) can be measured. The reading is proportional 1:2 to the actual
value.
At the monitor socket MON, all display parameters are accessible as an analog voltage being
between 0-10V. The adjusted display parameter (dx.xx see also chapter Display Parameters) is
switched to the monitor socket MON.

Display Parameters
Internally calculated values can be displayed on the 4 digit display during normal operation and are
especially helpful during commissioning and troubleshooting. The values should be interpreted as
voltage or current with a standardized display resolution of 1 mV to 9.999 V for currents between
0.001A to 4.000A. The polarity signs are represented through the LEDs + and -. Available display
parameters are shown in Table 9.

ATTENTION!
This is only an auxiliary function. For technical reasons, precise measured
values, comparable to a multimeter, are not possible.

Analog Output
Using parameter E01 (analog output), each of the display values d1.01 to d1.13 can be displayed as
an analogous voltage on contact 10b. This signal has a voltage of 0 to 10 V with12 bit resolution, and
for example, can control subsequent electronics. Parameter E18 can assign an output gain to the
output signal and therefore, adapt the output signal to the demands of subsequent electronics.

Comparator
Comparator function of digital controller and amplifier card ER9.3-10 is used in connection with the fail
safe function. If the lag error value (set value actual value) is greater or less than the values set in
parameters C1.21 and C1.22 for longer than the time set in parameters C1.23 and C1.24, then the
comparator value is changing until it reaches the set parameter values. The comparator value can be
measured directly on pin 14b of the back socket. In connection with the break function, the fail safe
valve can be activated directly via the switching output (break output 20b, see chapter Break Function
on page 40).

Break Function
The break function on digital controller and amplifier card ER9.3-10 is used in connection with the fail
safe function. Depending on the value of the comparator function, the break output can directly drive a
fail safe valve (24V and 1A max). (Pin 20b).

Fail Safe Function

In the case of a disturbance, the fail safe valve tilts the swash plate on the pump to zero. The fail safe
function controls the lag error value (set value actual value). If the lag error is greater or less than
the values set in parameters C1.21 and C1.22 for longer than the time set in parameters C1.23 and
C1.24, the fail safe function will de-energize the solenoid on the fail safe valve. Port A and B of the
servo cylinder will be connected and the pump tilts in zero position. For proper operation of the fail
safe function it is necessary to set the parameter E18 = 3. This is in accordance to the delivered
parameter value in Table 6. The electrical parameters of the fail safe valve are V = 24 V and
Imax = 1 A. The proper fail safe valve can be ordered from Eaton Fluid Power GmbH, Wehrheim (order
number HC000000316951).

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List of Parameters as delivered condition
The following tables show function, units and range of the parameters available in this controller.
Modifying the parameters is possible by using the keypad on the front of the card or by using the
ER9.3-Tool.
There are 4 different parameter types:
C-parameter C1.00 C1.26: parameters to change the control behavior (Table 5)
E-parameter E00 E20. parameters for extended setting (Table 6)
S-parameter S1.01 S1.04 and S1.08: digital set values (Table 7)
R-parameter r1.01 r1.04: ramp parameters (Table 8).
Column Value in Table 5 and Table 6 contains the recommended values for SP control by Eaton
Fluid Power GmbH. These values are chosen to establish stable working conditions.

Unit
---

Step
1

Min
0

Max.
4

C1.01
C1.02

Safety function
Linearization

-----

--1

0
0

1
5

C1.03
C1.04
C1.05

Gain A
Gain B
Set value sign

V/V
V/V
---

00.01
00.01
---

00.00
00.00
-1

02.00
02.00
+1

C1.06
C1.07
C1.08

C1.09

Set value offset

Dead band compensation A
Dead band compensation B

V
V
V

---

Sensor type

0.001
0.001
0.001

-9.999 +9.999
0.000 +9.999
0.000 +9.999

12

Attention:
No negative controller output
possible when 10, 11 or 12 is
selected!
If E20 = 0 than type 1 to 12
available!
If E20 = 1 than only type 4 to 7
and 12 available!

P-Portion KP1
T-Portion for PT1 (to C1.16)
Threshold (C1.13, C1.16)
P-Portion KP2
I-Portion
D-Portion

V/V
S
V
V/V
V/s
Vs

00.01
0.001
---

00.01
00.01
0.001
00.01
00.01
00.01

00.00 04.00
-9.999 +9.999
-1
+1

00.00
00.00
0.000
00.00
00.00
00.00

04.00
04.00
+9.999
04.00
04.00
04.00

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C1.13
C1.14
C1.15
C1.16
C1.17
C1.18

V/V
V
---

Actual value gain

Actual value offset
Actual value sign

1 = 0 ... 20 mA
2 = 4 ... 20 mA
3 = 12 mA 8 mA
4 = 0 ... 10 V
5 = 0 ... 10 V
6 = 6 V 2,5 V
7 = 7,5 V 2,5 V
8=6V5V
9 = 7,5 V 5 V
10 = 0 ... 20 mA
11= 4 ... 20 mA
12 = 0 ... 10 V
----- 1 = negative
off = off
+ 1 = positive
-------------

H~ y

C1.10
C1.11
C1.12

Code
0 = off
1 = P-PT1-I-DT1
2 =Remote
3 =dff
4 =Remote + dff
off = off; on = on
off = linear; 1 ... 5 =
curve
----- 1 = negative
off = off
+ 1 = positive
--9.999 V = max.
current depending
on solenoid
selection

41

Value

off
2
01.00
01.00
Customer

0.000
0.000
0.000

1.8
0.000
1
02.00
00.15
0.050
00.60
0.000
00.00

` VT }  z

Controller-Parameters
No.
Function
C1.00 Controller selection

48

950050
V x

V90

  `V


Controller-Parameters
No.
Function
C1.19 T-Portion for DT1
C1.20 Gain ( C1.13 and C1.16)
C1.21 Comparator upper level
C1.22 Comparator lower level
C1.23 Comparator delay into window
C1.24 Comparator delay out of
window
C1.25 Comparator selection

C1.26

Cable fracture detection

feedback

Value
00.00
8
0.500
-0.500
00.10

Unit
S
V/V
V
V
S
S

Step
00.01
2^n
0.001
0.001
00.01
00.01

Min
00.00
1
-9.999
-9.999
00.00
00.00

Max.
10.00
32
+9.999
+9.999
+99.99
+99.99

Code
-------------

---

off = off
1 = Set value
2 = Actual value
3 =Lag error
off = off; 1 = active

---

---

off

Min
1

Max.
11

00.10

off

Table 5: Controller Parameters as delivered condition

Unit
---

Step
1

Note:
5 = Reserved and
9 = Reserved

E06
E07

13
and
21
1
3.500

---

0001

0000

9999

Off = off; 1 = active

0.800 = 0,8 A
1.100 = 1,1 A
1.300 = 1,3 A
1.600 = 1,6 A
2.400 = 2,4 A
2.700 = 2,7 A
3.500 = 3,5 A
---

---

0001

0000

9999

---

---

0001

0000

9999

---

---

0001

0000

9999

---

-----

P-Portion current contr.

energize
I-Portion current contr.
energize
P-Portion cur. contr.
de-energize
I-Portion cur. contr.
de-energize

1
and
14
off
0.800

-----

210)

E05

Push-Pull function
Solenoid selection

42

Value

11
off

1.600

0800
1000
1500
1000

43

E04

---

 # ( ' % #     !  
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E02
E03

Analog output

E01

Code
1 = Open loop one
valve
2 = Open loop two
valves
3 = Closed loop one
valve
4 = Closed loop one
application
6 = Closed loop
valve/application
7 = Closed loop
valve/valve
8 = Closed loop
application/
application
10 = Closed loop no
valve one feedback
11 = Closed loop no
valve two feedback.
1 = d1.01 to
13 = d1.13
and
14 = d2.01 to
21 = d2.13

` VT

Extended-Parameters
No.
Function
Operation mode
E00

48

950050




` Y I UH 9G W VH S UT T C9Q PI"F ECB A"@ 97 6 5

X S R
S R H G D
8
Extended-Parameters
No.
Function
Ramp selection
E08

Unit
---

Step
1

Min
0

Max.
2

E09
E10

Time delay enable signal

Solenoid current adaptation

s
---

0.001
00.01

0.000
00.50

+9.999
01.10

E11
E12

Initial current
Initial current

V
V

0.001
0.001

0.000
0.000

+3.000
+3.000

E13

Dither Amplitude

0.001

0.000

+3.000

E14
E15

Dither Frequency
Select load/store

Hz
---

0001
1

0001
0

0300
1

E16

Action load/store

---

E17

Set value activation mode

---

off, 1

E18

E19
E20

E21

Break output

---

Output factor analog output

Swap feedback branch 1 /
branch 2

Password

-----

---

00.01
1

0001

off, 1

00.00
0

0000

02.00
1

9999

Code
0 = digital set v.
(time constant)
1 = all set v. (rise
constant.)
2 = no function
--Variable adjustment
of max. current
3.000 V = 30 % of
max. rated current
3.000 V = 30 % of
max. rated current
--0 = Store into goal
1 = Load from goal
0 = no action; 1 =
Start action
off = 4 digital, 3
analogue active
1 = 5 digital SP, 3
analogue active
2 = only 4 digital
active
3 = only 5 digital
active
off = break off,
comp. Positive logic
1 = break on, comp.
Positive logic
2 = break follows
comparator
3 = break not and
comp. Positive logic
4 = break and comp.
Negative logic
5 = break not and
comp neg. logic
--0 = Current
feedback addressed
to branch 1
1 = Current
feedback addressed
to branch 2
To protect
parameters

Value

0.000
01.00
2.000
2.000
2.000
0130
0
0

Off

01.00

Table 6: Extended Parameters as delivered condition

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Parameter for digital set values

No.
Function
S1.01
Internal set value 1

Unit
V

Step
0.001

Min
0.000

Max
+9.999

S1.02

Internal set value 2

0.001

0.000

+9.999

S1.03

Internal set value 3

0.001

0.000

+9.999

S1.04

Internal set value 4

0.001

0.000

+9.999

Internal set value 8

0.001

0.000

+9.999

Unit
s

Step
0.001

Min
0.000

Max
39.50

S1.08

Table 7: Parameters for digital set values

Ramp parameters
Nr.
Function
r1.01
Ramp from 0
r1.02

Ramp from 0

0.001

0.000

39.50

r1.03

Ramp from 0 +

0.001

0.000

39.50

r1.04

Ramp from + 0

0.001

0.000

39.50

Display parameters
#
Function
d1.01
Sum of analog set value

Unit

Step

0.001

Min
-9.999

Max
+9.999

d1.02

Sum of all post ramp set values

0.001

-9.999

+9.999

d1.03

Table 8: Ramp parameters

Set values after linearization

0.001

-9.999

+9.999

d1.04

Value after gain adjustment.

0.001

-9.999

+9.999

d1.05

Signal A

---

0.001

-9.999

+9.999

d1.06

Signal B

---

0.001

-9.999

+9.999

d1.07

Current A

0.001

0.000

5.000

d1.08

Current B

0.001

0.000

5.000

d1.09

Total current

0.001

0.000

5.000

d1.10

Desired value

0.001

-9.999

+9.999

d1.11

Actual value, feedback value

0.001

-9.999

+9.999

d1.12

Lag error

0.001

-9.999

+9.999

d1.13

Controller output

0.001

-9.999

+9.999

Table 9: Display parameters

Commissioning
Non Warranty
This operating manual represents the knowledge of Eaton and during the drafting of this manual, the
greatest possible care was taken. Nevertheless, Eaton disclaims any responsibility and liability claims
for individual applications of the user. This is particularly true in cases of non-compliance, omissions,
faults, misinterpretations and misunderstandings.

Wiring
Card holder HC000000315303 has to be wired according to Fig. 7.
The supply voltage for the unit at terminals 26bd = 0V and 32bdz = +UB is 18 V to 32V DC, residual
ripple <10%.
Output stages are electronically protected against short circuit. The amplifiers should be protected with
a quick-acting preliminary fuse.

II E 

44

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The solenoids are connected at terminals 22bdz and 28bdz for solenoid A; terminals 24bdz and 30bdz
for solenoid B. The terminals bdz are bridged on the amplifier. We recommend using all three
terminals. The solenoid connections with the output terminals of the electronic card, and the sign of
actual value C1.12 are chosen for use with a Vickers proportional valve KDG4V-3 according to ANSIB93.9. Using any other proportional valve that does not meet ANSI-B93.9 standard, may require a
change to the sign of the actual value or a change to the solenoid connection wiring.
Terminal 18d is the digital output of GND. This terminal is used as a point of reference for the serial
interface.
When using digital set values (S1.01 to S1.04 and S1.08) the recommendations in chapter Digital Set
Values on page 37 need to be considered. If the digital set values are not used, the terminals 8z, 4d,
6d, 6z, 2b, 4z and 2z have not been connected. Enable signal (18d) must be energized in SP control
mode.
When using analog set values, the recommendations in chapter Analog Set Values on page 37 need
to be considered. Analog set values can be activated by:
1. using a potentiometer (Set value S1.05, terminals 12z, 20z and 20d),
2. using an external voltage source 10 V (Set value 1.06, terminals 12d and 16d) or
3. using an external current source 4...20 mA (Set value S1.07, terminals 16z and 26z).
The swash plate sensor power supply is terminals 20z (+10 V to pin 1 of sensor) and 26z (analog
GND to pin 3 of sensor). The actual value (pin 2 on sensor) should be connected to terminal 10d of
the card holder.
By using the fail safe function, as shown in Fig. 7, the switching output on terminal 20b and 26bd
should be connected to the fail safe valve solenoid. NOTE: The switching output 20b can drive an
inductive load with 24V and1A max. If the fail safe valve solenoid has variant electrical values, the
control needs to be done using additional electrical devices (i.e. relay).

Installation of Electronic Card

After correctly wiring the card, insert it carefully in the card holder. After switching on the power and
the enable signal, the power supply LED (PW) and the enable LED (EN) for should flash.

Verification of Parameters
Before using the electronic card and swash plate pump, compare the controller parameters C1.00 to
C1.26 and the extended parameters E00 to E20 to the values in Table 5 and Table 6. Correct any
differences in the parameters according to the table.

Switching on the Pump

Before switching on the pump, make certain that all hydraulic connections to the pump have free
conjunction with the tank. There should not be a closed valve, ball valve or other device between the
pump outlet port and the tank to prevent unallowable pressure during commissioning.
The set value of the pump is adjusted to zero first. If the pump is tilted out to maximum displacement
change the sign of the set value (C1.12) or change the solenoid connections.

Adjustment of Zero Point on Swash Plate Angle Sensor

During assembly and testing of the pump, the swash plate sensor neutral is calibrated to the zero
position (displacement and flow equal zero) of the pump. If mechanically loaded or remounted, the
swash plate sensor can lose its zero position. If this occurs it may be necessary to readjust the neutral
position of the swash plate sensor.
The actual value of the swash plate sensor can be observed by displaying parameter D1.11. If the
actual value D1.11 is more than 1V and the pump is tilted to its zero position, it is recommended that
the sensor be readjusted. If the actual value D1.11 is less than 1V, the zero position can also be
adjusted by the offset parameter C1.11.

ut
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0V Strip

+Ub

Close to amplifier
At least 6

I = 4 20mA

PE Star

0V
PLC

NC Uset
0V

20d

20z

0V
PE

18...32 V

Analoque GND

Sensor

SetP.1.07

(SetP.1.06 10V)

UE- (SetP. 1.06)

UE+ (SetP. 1.06)

SetP.1.05 10V

18d

20b

14d
14b

20d
20z

32bdz
26bd
18b

10d
26z

16z

12d
16d

12z

10b

24bdz
30bdz

22bdz
28bdz

ER9.3-10

+24V ext.
32z
int. Set P.1.01
8z
int. Set P.1.02
4d
int. Set P.1.03
6d
int. Set P.1.04
6z
int. Set P.1.08
2b
+ Sign
4z
- Sign
2z
Ramp = 0
18z
Enable
8d
0V ext.
2d

max.

max.
Load
50mA

10V

Analoque Outp.

Solenoid BSolenoid B+

Solenoid ASolenoid A+

Digital GND

26db

Switching Output 1A/24V

Comparator

Error

Ref.Outp.-10V Load
Ref.Outp.+10V 10mA

Monitor

pPilot pT

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Verification of Control Behavior

To verify the control behavior of the pump, carefully increase the set value. The control works proper if
the swash plate angle and the pump outlet flow are also increased. If this is not the case please check
all hydraulic connections (pump inlet and outlet port) and the electrical connections to the solenoids.

Modifying Sensor Gain

The actual gain value needs to be adjusted in this way, so that the maximum output signal of the
sensor corresponds to maximum displacement. If different maximum displacements for side A and B
exist, it is only possible to adjust the sensor gain for the side with the greater maximum displacement.
To adjust the sensor gain, tilt the pump out about 80% of its maximum displacement. Display
parameters D1.10, D1.11 and D1.12 will show set value, actual value and lag error. If the set value is
equal to actual value (lag error = 0) the sensor gain is adjusted correctly.
If the actual value is greater than the set value (lag error is negative), the sensor gain is too large. In
this case scale down the sensor gain C1.10 by 0.1V steps until the lag error D1.12 is set to zero.
If the actual value is smaller than the set value (lag error is positive), the sensor gain is too small. In
this case increase the sensor gain C1.10 by 0.1V steps until the lag error D1.12 is set to zero.
Please pay attention that proper adjustment of the sensor gain is only possible for one maximum
displacement. If the pump has alternating pressure sides (A and B) with different maximum
displacements, the sensor gain is the same in both directions. In this case the maximum flow of the
smaller maximum displacement side is already reached before the maximum set value (example: Side
A: V1Amax = 100 % at set value 10 V, V1Bmax = 80 % * V1Amax, V1Bmax is reached at set value 8 V).

Closed Loop Function

After adjusting the pump and controller card test your application in closed loop function.

Saving Parameters
All parameters that have been changed during commissioning should be noted and saved. Using the
ER9.3-Tool it is possible to save the parameter set on a PC and download it in other applications.

Hint
Description of function, wiring, commissioning and parameters in this manual represent the state of
the art to use a proportional valve for displacement control (SP) with the recommended components
from EATON. The digital controller and amplifier card ER9.3-10 is capable of many more functions
than described in this manual. Therefore, it is possible to use a second controller loop. If you are
interested in using additional functions of the digital controller and amplifier card ER9.3-10 please
contact the EATON Fluid Power GmbH, Wehrheim.

997 31

47

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DESCRIPTION

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