plus+1® compliant kep 3pt foot pedal function block user ... · compliant tm connector mates with...

COMPLI ANT

TM

CONNECTOR MATESWITH DEUTCHCONNECTOR #DTM-06-125A

PIN #1INDICATED

1

12

6

7

47.1 mm[1.85]

51.6 mm[2.03]

LED INDICATORLIGHTS

CONNECTOR MATESWITH DEUTCHCONNECTOR #DTM-06-125A

1

12

6

7

97.0 mm[3.82]

142.0 mm[5.59]

144.5 mm5.69

158.2 mm6.23

2x 25.2 mm[1.0]

2x ∅7.0[.28]MOUNTINGDIRECTION#2

PLUS+1™ GUIDESoftware

PLUS+1 Compliant KEP 3-Point Foot Pedal Function Block User Manual

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KEP_Foot_Pedal

PLUS+1 Compliant KEP 3-Pt Foot Pedal Function Block User Manual

2 L1010068 · AA · February 2010

About this Manual

Organization and Headings

To help you quickly find information in this manual, the material is divided into sections, topics, subtopics, and details, with descriptive headings set in red type. Section titles appear at the top of every page in large red type.

In the PDF version of this document, clicking an item underlined in blue italic type jumps you to the referenced page in the document.

Special Text Formatting Controls and indicators are set in bold black type.

Table of Contents A Table of Contents (TOC) appears on the next page. In the PDF version of this document, the TOC entries are hyperlinked.

Revision History

Revision Date Comment

Rev AA February 2010 Supports Rev 1.00

©2010 Sauer-Danfoss. All rights reserved.

Sauer-Danfoss accepts no responsibility for possible errors in catalogs, brochures and other printed material.

Sauer-Danfoss reserves the right to alter its products without prior notice. This also applies to products already

ordered provided that such alterations can be made without affecting agreed specifications.

All trademarks in this material are properties of their respective owners.

PLUS+1, GUIDE, and Sauer-Danfoss are trademarks of the Sauer-Danfoss Group. The PLUS+1 GUIDE, PLUS+1

Compliant, and Sauer-Danfoss logotypes are trademarks of the Sauer-Danfoss Group.


L1010068 · Rev AA · February 2010 3

Contents

KEP_3Pt Function Block ................................................................................................................................. 4 Overview..................................................................................................................................................... 4 Inputs ........................................................................................................................................................... 4 Outputs ....................................................................................................................................................... 5 About KEP_3Pt Function Block Connections ................................................................................. 6 Status Outputs .......................................................................................................................................... 7 Fault Outputs ............................................................................................................................................ 7 Configuration Settings .......................................................................................................................... 8 Memory Page .......................................................................................................................................... 11 About Default Calibration Values and Calibration Windows .................................................. 12 About Calibration Values and Deadbands .................................................................................... 14 How to Configure MFIn and AnIn Inputs to Accept a Voltage Input ................................... 16

How to Change the Configuration of an MFIn to Accept a Voltage Input ................. 16 How to Change the Configuration of a AnIn to Accept a Voltage Input .................... 17

About the Para Input ............................................................................................................................ 18 How to Use the Para Inputs ................................................................................................................ 19 About Name Space Values ................................................................................................................. 21 How to Change Name Space Values ............................................................................................... 21


4 L1010068 · Rev AA · February 2010

KEP_3Pt Function Block

Overview KEP_3Pt function blocks scale the input from a Sauer-Danfoss KEP 3-Point Electronic Foot Pedal into a ±10000 (±100.00%) output.

• The Snsr Pwr input on these function blocks receives the sensor power voltage applied to the pedal sensor. This voltage remains constant.

• The Pedal input on these function blocks receives the voltage output by the pedal sensor. The position of the pedal varies this voltage.

These function blocks make ratiometric comparisons of the Pedal and Snsr Pwr inputs. This comparison produces Out values that range from ±10000 (±100.00%).

There are four versions of this function block—the KEP_3PtA, KEP_3PtB, KEP_3PtC, and KEP_3PtD function block. Except for their default calibration values, these blocks are identical.

KEP_3Pt Function Block Default Calibration Values

Function Block Low Calibration Value Middle Calibration Value High Calibration Value

KEP_3PtA 1000 (10.00%) 5000 (50.00%) 9000 (90.00%)

KEP_3PtB 9000 (90.00%) 5000 (50.00%) 1000 (10.00%)

KEP_3PtC 1000 (10.00%) 4500 (45.00%) 8000 (80.00%)

KEP_3PtD 2000 (20.00%) 5500 (55.00%) 9000 (90.00%)

Inputs

KEP_3Pt Function Block Inputs

Input Type Range Description

Para —— —— Use the Para (Parameter) input to simultaneously apply common parameters to multiple function blocks.

See About the Para Input on page 18 for more about this input.

Snsr Pwr —— 0–5260 mV Inputs the sensor power voltage applied to the pedal sensor. This voltage remains constant.

Pedal —— 0–5260 mV Inputs the voltage output by the pedal sensor. The position of the pedal varies this voltage.

The function block makes a ratiometric comparison of the Pedal and Snsr Pwr inputs to produce Out values

from ±10000 (±100.00%).

PLUS+1 Compliant KEP 3-Pt Foot Pedal Function Block User Manual KEP_3Pt Function Block


Outputs KEP_3Pt Function Block Outputs

Output Type Range Description

Status Outputs a bus that contains a Status_Pedal signal.

Status_Pedal signal

U16 —— Indicates the calibration and setup status of the function block.

0x0000 = Function block is OK.

0x8001 = Function block is not calibrated.

0x8002 = Function block is partially calibrated.

0x8008 = Invalid setup/calibration.

The Status_Pedal signal uses the standard bitwise status-reporting scheme.

For more information about this scheme, refer to the Basic Function Blocks Library User’s Manual (Sauer-

Danfoss publication 520L0951).

Fault Outputs a bus that contains a Fault_Pedal signal.

Fault_Pedal signal

U16 —— Indicates the operating condition of the function block.

0x0000 = Function block is OK.

0x8001 = Input value is too low.

0x8002 = Input value is too high.

0x8004 = Short circuit.

0x8008 = Open circuit.

The Fault_Pedal signal uses the standard bitwise fault-reporting scheme.

For more information about this scheme, refer to the Basic Function Blocks Library User’s Manual (Sauer-

Danfoss publication 520L0951).

Out Outputs a bus that contains a Pedal_Psn signal.

Pedal_Psn signal

S16 0–±10000 Indicates the position of the foot pedal.

Reverse = -10000 (-100.00%)

Neutral = 0 (0%)

Forward = =10000 (100.00%)



About KEP_3Pt Function Block Connections

Pedal sensor voltage (varies with pedal position)

Sensor power (reference voltage)

Use the preceding figure as an example when connecting a function block.

• You must connect the SnsrPwr bus to the function block’s Snsr Pwr input.

You do not have to change the configuration of the SnsrPwr bus.

• You can connect either an MFIn bus or an AnIn bus to the function block’s Pedal input.

You must change the configuration of the MFIn bus or AnIn bus that you use to avoid a compiler error.

For more information about:

• The inputs and outputs shown here, see Inputs on page 4 and Outputs on page 5.

• How to configure MFIn and AnIn buses for use with this function block, see How to Configure MFIn and AnIn Inputs to Accept a Voltage Input on page 16.



Status Outputs The Status output of the function block indicates the block’s calibration and setup status.

During calibration, the Pedal_Psn signal (in the Out bus) is zero.

The following table lists all the status conditions output by the KEP_3Pt function block.

Status Conditions

Condition Status Pedal_Psn Signal Comment

Block is OK 0x0000 0–±10000 Normal output of the Pedal_Psn signal.

Block is not calibrated 0x8001

0 Block is partially calibrated 0x8002

Invalid setup/calibration 0x8008

Fault Outputs The Fault output of the function block indicates the block’s operating condition.

All fault conditions set the Pedal_Psn signal (in the Out bus) to zero.

The following table lists all the fault conditions output by the KEP_3Pt function block.

Fault Conditions

Condition Fault Pedal_Psn Signal Comment

Block is OK 0x0000 0–±10000 Normal output of the Pedal_Psn signal.

Input value is too low 0x8001

0 Input value is too high 0x8002

Short circuit 0x8004

Open circuit 0x8008



Configuration Settings Path: KEP_3Pt

Configuration settings

EE components store calibration values

Values set inside the function block’s “wrapper page” configure the function block.

For more information about the Memory page, see Memory Page on page 11.

KEP_3Pt Function Block Configuration Settings


CalMode —— 0–3 Selects the CalMode (Calibration Mode) that determines the Cal_Hi, Cal_Mid, and Cal_Low calibration values.

0—Disable calibration by the function block. The PLUS+1 Service Tool program must download the calibration

values.

1—Capture calibration values using autocalibration or use the PLUS+1 Service Tool program to directly

download calibration values.

In autocalibration, the function block:

– Captures calibration values that fall within defined windows as you move the pedal through its operating

range.

– Clears all calibration values when you disconnect the pedal sensor.

2—Use the Default calibration values stored in the Memory page.

3—Set all calibration values to zero.





RturnToNeut BOOL —— RturnToNeut (Return to Neutral) determines when the function block enables its Pedal_Psn signal after a

controller startup, a calibration procedure, or a cleared Fault condition.

(The Pedal_Psn signal is in the Out bus.)

T—The Pedal input voltage must first fall within the Dband_Mid (middle deadband) range before the function

block enables its Pedal_Psn signal.

F—The function block immediately enables its Pedal_Psn signal. The Pedal input voltage does not first have to

fall within the Dband_Mid (middle deadband) range.

LatchPFlt BOOL —— The function block disables its Pedal_Psn signal when it receives an invalid parameter.


The LatchPFlt (Latch Parameter Fault) value determines when the function block can enable its Pedal_Psn signal

after the condition clears.

T—The function block can only enable its Pedal_Psn signal after you repower the controller.

F—The function block can immediately enable its Pedal_Psn signal.

LatchInFlt BOOL —— The function block disables its Pedal_Psn signal when it receives an invalid input.


The LatchInFlt (Latch Input Fault) value determines when the function block can enable its Pedal_Psn signal

after the condition clears.

T—The function block can only enable its Pedal_Psn signal after you repower the controller.

F—The function block can immediately enable its Pedal_Psn signal.

CalWindow —— 0–3000 The CalWindow (Calibration Window) value determines the width of calibration windows.

These windows center on the default Cal_Hi, Cal_Mid, and Cal_Low calibration values. Memory (EE)

components in the Memory page store these values.

During an autocalibration procedure, Input voltages must fall within these windows to be captured as valid

calibration values.

The CalWindow value is a percentage of the SnsrPwr.

You can change the default calibration values by changing the Default inputs to the EE components in the

Memory page.

1000 = 10.00%

For more information, see About Default Calibration Values and Calibration Windows on page 12.

CalDetectTm —— 0–65535 The CalDetectTm (Calibration Detect Time) value applies during autocalibration procedures. It determines the

time in which Input voltages must remain in calibration windows to be captured as valid calibration values.

1000 = 1000 ms


10 L1010068 · Rev AA · February 2010



Dband_Hi —— 0–4999 The Dband_Hi (Deadband High) value determines the width of an upper deadband.

An Input voltage that falls within this deadband produces a Pedal_Psn signal of +10000 (+100.00%).


The Dband_Hi deadband extends below the Cal_Hi calibration value.

The function block determines the width of this deadband as a percentage of the difference between the Cal_Hi and Cal_Mid values.

1000 = 10.00%

For more information, see About Calibration Values and Deadbands on page 14.

Dband_Mid —— 0–4999 The Dband_Mid (Deadband Middle) value determines the width of a middle or neutral deadband.

An Input voltage that falls within this deadband produces a Pedal_Psn signal of 0 (0%).


The Dband_Mid deadband extends above and below the Cal_Mid calibration value.

The function block determines the width of the deadband that extends:

– Above the Cal_Mid value as a percentage of the difference between the Cal_Hi and Cal_Mid values.

– Below the Cal_Mid value as a percentage of the difference between the Cal_Mid and Cal_Low values.

1000 = 10.00%


Dband_Low —— 0–4999 The Dband_Low (Deadband High) value determines the width of a lower deadband.

An Input voltage that falls within this deadband produces a Pedal_Psn signal of -10000 (–100.00%).


The Dband_Low deadband extends above the Cal_Low calibration value.

The function block determines the width of this deadband as a percentage of the difference between the

Cal_Mid and Cal_Low values.

1000 = 10.00%


FltDetectTm —— 0–65535 The FltDetectTm (Fault Detect Time) value sets the countdown time before an abnormal condition causes the

function block to set a fault or status condition.

1000 = 1000 ms


L1010068 · Rev AA · February 2010 11

Memory Page Path: KEP_3Pt ! Memory

3

2

1

45

6

8

7

The Memory page stores and outputs the calibration values used by the function block.

Memory Page

Callout Item Description

1 EE_Pedal_CalHi EE component

This memory component outputs the Cal_Hi signal used by the function block.

2 EE_Pedal_CalMid

EE component

This memory component outputs the Cal_Mid signal used by the function block.

3 EE_Pedal_CalLow

EE component

This memory component outputs the Cal_Low signal used by the function block.

4 DEFAULT input A default calibration value.

5 Restore_Default signal Goes T when the CalMode signal = 2 (Set Defaults)

When T, all EE components write their DEFAULT inputs to memory and output these values in the

Cal_Hi, Cal_Mid, and Cal_Low signals.

6 Cal_Value signal The Input voltage as a percentage of sensor power.

10000 = 100.00%

7 Set_CalHigh signal Goes T during an autocalibration procedure when function block detects that the Input voltage signal is

within a valid calibration window.

A T input causes an EE component to hold the Input signal value pending a write to memory.

(The Set_CalMid and Set_CalLow signals have similar functions.)

8 Write_AllCal signal Goes T in an autocalibration procedure when the function completes the capture of all calibration values.

A T input causes all EE components to write the pending Input signal values to memory and output

these values in the Cal_Hi, Cal_Mid, and Cal_Low signals.


12 L1010068 · Rev AA · February 2010

About Default Calibration Values and Calibration Windows The following graph shows the relationship between default calibration values and calibration windows. In an autocalibration procedure, the function block only captures calibration values that fall within the calibration windows.

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000

-7500

-2500

12500

0

7500

10000

-12500

-10000

Input (mV)

Out

put (

1000

0 =

100.

00%

)

-5000

2500

5000

Calibration window

4500 mV—default Cal_Hi value (90% of 5000 mV sensor power)

2500 mV—default Cal_Mid value (50% of 5000 mV sensor power)

500 mV—default Cal_Low value (10% of 5000 mV sensor power)

In this example, the:

• Sensor power applied to the foot pedal is 5000 mV.

• Default Cal_Low value is 1000 (10.00% of sensor power), which puts the default low calibration value at 500 mV. (10.00% of 5000 mV sensor power = 500 mV)

• Default Cal_Mid value is 5000 (50.00%), which puts the default middle calibration value at 2500 mV. (50.00% of 5000 mV sensor power = 2500 mV)

• Default Cal_Hi value is 9000 (90.00%), which puts the default high calibration value at 4500 mV. (90.00% of 5000 mV sensor power = 4500 mV)

• CalWindow value is 1000 (10.00%), which creates calibration windows that are 500 mV wide. (10.00% of 5000 mV sensor power = 500 mV)

• 500 mV wide calibration windows center on the default calibration values.


L1010068 · Rev AA · February 2010 13

• During an autocalibration procedure, the input voltage must fall between:

− 250–750 mV to be captured as a valid Cal_Low calibration value.

− 2250—2750 mV to be captured as a valid Cal_Mid calibration value.

− 4250–4750 mV to be captured as a valid Cal_Hi calibration value.


14 L1010068 · Rev AA · February 2010

About Calibration Values and Deadbands The following graph shows the:

• Formulas that the function block uses to calculate deadband widths.

• Relationship between the calibration values captured during an autocalibration procedure and the placement of the deadbands.

• The function block output when the input voltage falls in the deadbands.

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000Input (mV)

-10000

-7500

-5000

-2500

12500

2500

0

5000

7500

10000

-12500O

utpu

t (10

000

= 10

0.00

%)

4700 mV—Cal_Hi value

2300 mV—Cal_Mid value

700 mV—Cal_Low value

Dband_Low = 1000 (10%) Lower deadband width = (Cal_Mid – Cal_Low) x Dband_Low160 mV = (2300 –700) x 10%

Dband_Hi = 1000 (10%) Upper deadband width = (Cal_Hi – Cal_Mid) x Dband_Hi240 mV = (4700 – 2300) x 10%

Dband_Mid = 500 (5%)

Middle deadband, width of lower half = (Cal_Mid – Cal_Low) x Dband_Low80 mV = (2300 –700) x 5%

Middle deadband, width of upper half = (Cal_Hi – Cal_Mid) x Dband_Low120 mV = (4700 –2300) x 5%


L1010068 · Rev AA · February 2010 15

• During an autocalibration procedure, the function block captured the:

− Cal_Hi value at 4700 mV.

− Cal_Mid value at 2300 mV

− Cal_Low value at 700 mV.

• The upper deadband extends below the Cal_Hi value.

• The upper half of the middle deadband extends above Cal_Mid value.

• The lower half of the middle deadband extends below the Cal_Mid value.

• The lower deadband extends above the Cal_Low value.

• An input voltage that falls within the:

− High deadband produces a +10000 (+100.00%) output from the function block.

− Middle deadband produces a 0 (0%) output from the function block.

− Low deadband produces a –10000 (–100.00%) output from the function block.


16 L1010068 · Rev AA · February 2010

How to Configure MFIn and AnIn Inputs to Accept a Voltage Input You route voltage from the sensor to the function block Input through either an MFIn (Multifunction Input) or an AnIn (Analog Input).

You must change the configuration of the MFIn or AnIn to accept this voltage input.

How to Change the Configuration of an MFIn to Accept a Voltage Input

1. Enter the MFIn page that routes voltage to the function block Input:

Path: Top ! Inputs ! MFIn

Before

After

2. Delete the route as shown.


L1010068 · Rev AA · February 2010 17

How to Change the Configuration of a AnIn to Accept a Voltage Input

1. Enter the AnIn page that routes voltage to the function block Input:

Path: Top ! Inputs ! AnIn

Before

After

2. Delete the route as shown.


18 L1010068 · Rev AA · February 2010

About the Para Input Use the Para input when you want to apply a common set of parameters to identical function blocks.

The preceding figure shows an example of a single Parameters page outputting common parameters to two identical function blocks.


L1010068 · Rev AA · February 2010 19

How to Use the Para Inputs

1. Create a Parameters page to hold the parameters that the function blocks will share.

Connect the Parameters page and the function blocks. Use the preceding figure as an example.

Copy from the function block—modify as needed

Contents of a typical Parameters page

2. Create the Parameters page contents. Use the preceding figure as an example.

Typically, start by pasting a parameters list from the function block into the Parameters page. Then modify the list as needed.

How you implement parameter sharing determines the inputs, outputs, and contents of the Parameters page.


20 L1010068 · Rev AA · February 2010

Before

After

3. Modify the contents of each function block to enable the function blocks to pass common parameters through their Para inputs. Use the preceding figure as an example.

4. Change the Name Space values for each function block to avoid compiler errors.

Continue on to How to Change Name Space Values on page 21.


L1010068 · Rev AA · February 2010 21

About Name Space Values If you use the same function block more than once in an application, you must change the function blocks’ Name Space values to prevent compiler errors.

All function blocks allocate controller memory using the same memory names (“aliases”). Identical memory names cause memory allocation conflicts and compiler errors.

The Name Space value avoids memory allocation conflicts by adding a unique prefix to each memory alias used by the function block.

How to Change Name Space Values

2

1 3

/4

1. In the PLUS+1 GUIDE menu bar, click Query/Change.

2. Click the function block’s page name to display the Edit Page window.

3. In the Edit Page window, enter a meaningful Name Space value.

4. Press /.

5. Repeat these steps to enter unique Name Space values for the other identical function blocks.

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