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RK4003 PDF
RK4003 PDF
1. Function 2
2. Type overview 7
3. Assembly 9
4. Installation 9
5. Address setting 10
6. Parameters 11
6.1 Parameter list RK 4003-0001U_ZH
RK 4003-0006U_ZB 12
6.2 Explanation of parameters for RK 4003-0001U_ZH
RK 4003-0006U_ZB 14
6.3 Parameter list RK 4003-0004U_ZB 26
6.4 Explanation of parameters for RK 4003-0004U_ZB 28
6.5 Parameter list RK 4003-0005U_ZC 32
6.6 Explanation of parameters for RK 4003-0005U_ZC 33
7. Technical data 37
BEA--250303-E-01
Control card RK 4003
1. Function
1.1 Purpose Control card RK 40.. forms the centrepiece of a control loop. The con-
trol card receives all the necessary signals required for the control sy-
stem. Acknowledging of the selected operating mode is performed by
the control card to the command station. Sensor and command stati-
on signals are termed incoming signals. As control card output a mo-
tor is generally triggered that changes the position of the actuator.
The control card establishes the deviation of the actual position from
the set position and emits appropriate signals to harmonise the actual
and set positions via the actuator.
EEProm
DIP-switch for
device address
Green LED
Yellow LED
JST-socket-contacts Terminals
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Control card RK 4003
1.3 Operating principle The operating principle depends on the operating mode selected.
The following operating modes are possible:
Automatic mode:
In automatic mode the position of a web or the tool is controlled ac-
cording to a guiding criterion. The latter may be an edge or the set
position of an interface. The guider hereby tries to correct any deviati-
on of the actual from the set position immediately. A prerequisite to
guiding is that the guider be enabled.
Guider enable in automatic mode:
The guider enable only influences automatic mode and may be acti-
vated on control card RK 4... or via an interface.
Web offset:
A web offset may be set in automatic mode. A web offset means that
the set position value may be changed negatively or positively.
In the case of fixed sensors or a single-motor support beam with two
adjusting slides the web offset is limited to 75 % of the sensor
measuring range. In the case of the remaining applications with sup-
port beams the web offset may be extended to the entire support
beam actuating range.
Oscillation:
In automatic mode, a set oscillating value is added to the set position
value. The oscillating mode, time and path may be set in the appro-
priate parameters or via the command station. In the case of fixed
sensors, oscillation is only possible within 75 % of the measuring ran-
ge.
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Park sensor:
When a support beam is used the adjusting slide and sensor/tool
mounted on it is moved to the outer end position (towards the outsi-
de).
Edge search:
The sensor/s searches for and follows the web edge until the opera-
ting mode is changed, i.e. by a guider enable.
1.4 Control structure with ste- In the case of control structures for proportional actuators the web
tigem control card for pro- actual position value is compared with the required set position value
portional actuators and, in the event of a deviation is fed to a P position controller as a
RK 4003-0001U_ZH guiding difference. The resulting set speed value is compared with the
actual speed value and fed to the PID speed controller. The latter out-
puts a pulse width-modulated signal to the power output element.
The following are available as proportional actuators:
DRS pivoting frame, VWS turning rod, SRS steering roller, WSS reel
station, SVS push roller and VSS positioning and follow-up controls.
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1.5 Control structure with On the basis of the sensor signal a support beam a set speed value
continuous-action control is calculated by the P-position controller and fed to the speed control-
card RK 4003-0006U_ZB ler in control structures for support beams. The resulting set speed
for support beams value is compared to the actual speed value and fed to the PID
speed controller. The latter outputs a pulse width-modulated signal to
the power output element. In "Edge search" or "Hybird" operating
mode the sensor is motor-driven when following up the web edge.
The following proportional actuator is available:
support beam VSS
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1.6 Control structure with con- In control structures for integral actuators the actual web position va-
tinuous-action control lue is compared with the required set web position value and in the
card RK 4003-0004U_ZB event of a deviation is sent to a P-position controller as a guiding dif-
for integral actuators ference. The latter produces the necessary set position value for the
actuator. The actuator's current actual position value is compared
with the required set position value and fed to the actuator's position
controller as a guiding difference. The latter produces a set speed va-
lue which is compared with the actual speed value, the difference
being fed to the PID speed controller. The latter outputs a pulse
width-modulated signal to the power output element. The following
are available as integral actuators:
Segmented roller guider SWS, steering roller VGA, edge and width
spreader BCS.
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1.7 Control structure with In control structures for proportional actuators the web or tool actual
continuous-action control position value is compared to the required set web or tool position va-
card (three-position con- lue . Should there be a deviation, the latter will be sent to a three-po-
trol card) sition control card. Depending on the set switch thresholds it switches
RK 4003-0005U_ZC an output. The actuator is controlled on-site. Should the difference be
for proportional actuators within the variably set window, none of the outputs are set.
The following proportional actuators are available:
Reel station WSS, turning rod VWS.
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Control card RK 4003
Type RK 4003 PK 4002 AK 4002 AK 4012 LK 4002 LK 4010 RT 4011 RT 4019 RT 4070 ZC 4061
DC 0110 X X
DC 0111 X X X
DC 0112 X X X
DC 0113 X X X X
DC 0140 X
DC 0141 X X
DC 0142 X X
DC 0143 X X X
DC 0144 X X X
DC 0145 X X
DC 0150 X X
DC 0151 X X X
DC 0160 X X
DC 0162 X X X
DC 0163 X X X X
DC 0210 X X X X
DC 0211 X X X X
DC 0212 X X X X
DC 0213 X X X X X
DC 0214 X X X X X
DC 0240 X X
DC 0241 X X X
DC 0242 X X X
DC 0243 X X X X
DC 0244 X X X X
DC 0245 X X X
DC 0250 X X X
DC 0263 X X X X X
DC 1010 X X X
DC 1040 X X
DC 1044 X X X
DC 1050 X X X
DC 1110 X X X
DC 1111 X X X X
DC 1140 X X
DC 1141 X X X
DC 1144 X X X
DC 1147 X X X
DC 1150 X X X
DC 1151 X X X X
DC 1161 X X X X
DC 1210 X X X X
DC 1240 X X X
DC 1241 X X X X
DC 1247 X X X
DC 1250 X X X X
DC 2110 X X X
DC 2111 X X X X
DC 2140 X X
DC 2141 X X X
DC 2210 X X X X
DC 2211 X X X X X
DC 2240 X X X
DC 2241 X X X X
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Control card RK 4003
Housing wall
X7 CAN-con-
nection
X1 supply voltage
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1 2 3 4 5 6 7 8
I (ON)
0 (OFF)
20 21 2 2 23 24 25 26 27 Value
I 0 I 0 I 0 0 0 Binary
5 1 Hex
When setting the device address please ensure that the binary
number is set starting from the left.
The following device numbers are permissible:
5 = Position controller for web or tool actuator
(e.g. pivoting frame)
6 = Position controller for sensor system actuator (support beam),
with drive on right in direction of web travel
7 = Position controller for sensor system actuator (support beam),
with drive on left in direction of web travel
8 = Slave controller 1 for device number 6 (special application)
9 = Slave controller 1 for device number 7 (special application)
10 = Slave controller 2 for device number 6 (special application)
11 = Slave controller 2 for device number 7 (special application)
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Example 1: Example 2:
1
G = 20/2 = 10 /s G = 20/3.5 = 5,71 1/s
VK = 1.5 mm * 10 1/s VK = 1.5 mm * 5.71 1/s
VK = 15 mm/s VK = 8.6 mm/s
Optimization:
Reduce the proportional range in small steps only. After each change
in the parameter value the web should be diverted to automatic
mode so that hunting may be immediately detected.
Reduce the proportional range until the guider begins to hunt. Then
increase the proportional range again until hunting may no longer be
observed.
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Control card RK 4003
Example 1: Example 2:
1
G = 15/3 = 5.0 /s G = 20/3 = 6.71 1/s
VK = 1.5 mm * 5.0 1/s VK = 1.5 mm * 6.71 1/s
VK = 7.5 mm/s VK = 10.1 mm/s
If the actuating speed is too high the web guider will begin to hunt.
The maximum actuating speed must be set higher than the maxi-
mum error speed, however it must not exceed the DC actuator no-
minal actuating speed.
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Control card RK 4003
.1.4. Web offset effective direction (.1.4. inv ext target) only in con-
junction with operating panel RE 1721
When the potentiometer is turned in a clockwise direction (to the
right) a web offset to the right must also be effected. If the web offset
is in the opposite direction (to the left) this parameter may be used to
reverse the effective direction of the operating panel.
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Oscillating time tc
Path-dependent:
In the case of path-dependent oscillation, the oscillating period is de-
termined by path-dependent, external pulses. The oscillating period
is divided into n-sections. The maximum number of pulses must not
exceed a rate of 20 pulses per second.
The number of pulses to be set may be calculated as follows:
1. Determine path length per oscillating period
n-sections
Web length s
At maximum web speed the external pulse generator must emit the
calculated no. of pulses fa max.
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Control card RK 4003
.2.9. .3.0. .3.1. P-component (.2.9. speed_P); I-component (.3.0. speed_I); D-com-
ponent (.3.1. speed_D)
The P, I and D components of the speed controller may not be chan-
ged. The values are already optimized ex works.
A change to these 3 parameter impairs guider operation. Chan-
ging these values may lead to impaired guiding and even total sy-
stem failure.
The following table specifies the parameter values that must be en-
tered for the various device types. The main difference, apart from
the devices, recorded type-wise, is that of motor power.
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Example 1: Example 2:
G = 25/2 = 12.5 G = 25/3.5 = 7.14
SK = 1.5 mm * 12.5 SK = 1.5 mm * 7.14
VK = 18.75 mm VK = 10.71 mm
Optimization:
Reduce the proportional range in small steps only. After each change
in the parameter value the web should be diverted to automatic
mode so that hunting may be immediately detected.
Reduce the proportional range until the guider begins to hunt. Then
increase the proportional range again until hunting may no longer be
observed.
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Control card RK 4003
Master Slave
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.1.6. .1.7. .1.8. Switch thresholds (.1.6. stop->pulse tr. ±) (.1.7. pulse->slow tr. ±)
(.1.8. slow->fast tr. ±)
The software for the three-position control card features 3 switch
thresholds.
Switch threshold 1(.1.6.) pulsed output left or right
Switch threshold 2 (.1.7.) continuous output left or right
Switch threshold 3(.1.8.) additional output fast
(in additional to continuous output)
The switch thresholds should be entered in the appropriate parame-
ters. The value entered corresponds to the unit mm.
If a switching point is not required, the value "0" must be set in the
appropriate parameter.
.1.9. .2.0. Switch-on time (.1.9. ON time) Switch-off time (.2.0. OFF time)
The switch-on and off time may be set separately for switch threshold
Switch-on time 1. The switch-on period is entered in parameter .1.9. and in parame-
Parameter .1.9.
ter .2.0. the switch-off period.
Switch-off time
Parameter .2.0.
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Control card RK 4003
.2.1. Manual offset with additional output 3 (.2.1. manual speed fast)
In manual mode the fast output may be additionally switched along
with the left or right output. To activate the fast output the value "1"
must be entered.
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Control card RK 4003
➂ Guiding by a prin-
ted line or existing
contrasting edges
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Control card RK 4003
Operating voltage
7. Technical Nominal value 24 V DC
data Nominal range 20 - 30 V DC
(incl. ripple)
Power input
(depending on output loading) 30 W to 100 W
Output voltage
on motor terminal ±22 V (PWM)
(PWM-pulse width-modulated)
Protection class IP 00
Output current (not on three-position control card)
without additional heat sink maximum 1.2 A
with additional heat sink
(control cabinet fixture) maximum 3.0 A
with external power output element maximum 5.0 A
CAN bus
CAN bus level + 5 V (potential-free)
CAN baud rate 250 KBaud
Switch level coding input
Terminal X 2.3 / X 2.4
Low "0" 0 to 3 V DC
High"I" 10 to 30 V DC
Position counter range
DC actuator maximum ±64000 pulses
Incremental encoder frequency maximum 5 kHz
Technical data subject to modification without notice
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Erhardt + Leimer GmbH
Post box 10 15 40
D-86136 Augsburg
Telephone (0821) 24 35-0
Control card RK 4003 Telefax (0821) 24 35-666
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