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Pro-FX™ Configure for AxisPro™
User Manual
APPLICABLE DEVICES
REVISION HISTORY
Revision Number Date Description
14.10.28 Oct 2014 Initial release for specified firmware versions
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Table of Contents
1. Preface ..................................................................................................................................................................... 9
2. Scope........................................................................................................................................................................ 9
3. Acronyms .................................................................................................................................................................. 9
4. Document Notation – Object Dictionary ................................................................................................................. 10
5. Qualified Personnel ................................................................................................................................................ 10
6. Software and Support Information .......................................................................................................................... 10
7. Installation .............................................................................................................................................................. 11
7.1. Valve Installation ............................................................................................................................................ 11
7.2. Service Information ........................................................................................................................................ 11
8. Identification ........................................................................................................................................................... 11
8.1. Firmware Version (Manufacturer Software Version) [100As0] ...................................................................... 11
8.2. Model Code (Device Model Description) [6054s0] ........................................................................................ 11
9. Cables and connections ......................................................................................................................................... 11
9.1. Primary Connector ......................................................................................................................................... 11
9.2. CANbus Connections .................................................................................................................................... 12
9.2.1. Node-ID [2102s1] and Bitrate [2102s2] ................................................................................................. 12
9.2.2. Bus Off Recovery Type [2102s5] .......................................................................................................... 13
9.2.3. Heartbeat and Life-guarding (node-guarding) Protocols ...................................................................... 13
9.3. External Sensor Port (Analog) ....................................................................................................................... 14
9.4. External Sensor Port (Digital) - Synchronous Serial Interface (SSI) ............................................................. 15
9.4.1. SSI Bitrate Prescaler [2001sD] & Scaler [2001sE] ............................................................................... 16
9.4.2. SSI Read Delay For Control [2001sF] .................................................................................................. 17
9.4.3. SSI type [2160s7] .................................................................................................................................. 17
9.4.4. SSI sign [2161s7] .................................................................................................................................. 17
9.4.5. SSI Position Resolution [2175s1] and Offset [2176s1] ......................................................................... 18
9.4.6. SSI Position Bit Size [2178s7] .............................................................................................................. 18
9.4.7. SSI Extra Bits [2001s10] ....................................................................................................................... 18
9.4.8. SSI Filter [2001s1C] .............................................................................................................................. 18
9.4.9. SSI Position Zero Shift [2177s1] ........................................................................................................... 18
9.4.10. SSI Raw Value [2005s15] ..................................................................................................................... 18
9.4.11. SSI Value [2020s7] or [6216s1] ............................................................................................................ 18
10. Other Sensors .................................................................................................................................................... 19
10.1. On-Board Pressure Sensors.......................................................................................................................... 19
10.2. Electronic Temperature ................................................................................................................................. 19
10.3. Hydraulic Port T Temperature ....................................................................................................................... 20
10.4. Power Supply Voltage ................................................................................................................................... 20
11. LED Indicators .................................................................................................................................................... 21
11.1. LED Blink/Flash rates .................................................................................................................................... 21
11.2. LED [A] – Power LED [green] ........................................................................................................................ 21
11.3. CANopen Error LED and CANopen Status LEDs [B] & [C] ........................................................................... 21
11.3.1. LED [B] - CANopen Error LED [red] ...................................................................................................... 21
11.3.2. LED [C] - CANopen Status LED [green] ............................................................................................... 21
11.3.3. Enable CANopen LEDs [2001sC] ......................................................................................................... 22
11.4. LED [D] – Fault Manager LED [red] ............................................................................................................... 22
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
1. Preface
This Manual explains in detail how the AxisPro™ proportional valve series may be set up and commissioned. As the
valve can be used as an integral part of a larger control system/application it is not possible to cover all possible us-
es/operations in this manual.
The hydraulic performance of the AxisPro valves are detailed in the product catalogues.
2. Scope
The Eaton AxisPro™ industrial valve can be operated in numerous applications and control scenarios. For each appli-
cation a different software configuration may be required. This guide is intended to introduce the user to some often-
used control capabilities of the valve, Eaton Pro-FX™: Configure PC application engineering tool with interfaces which
configure these capabilities, and allow the user to begin applying the valve in simple systems.
The reader is presented a step-by-step approach for configuring pre-programmed control modes of the device profile for
fluid power technology – proportional valves (CAN in Automation [CiA] DS408), as well as general description and pa-
rameterization of specific valve features.
As indicated by the model code of the valve, the type and number of pre-programmed software control modes as well as
hardware I/O availability require the user to consider what modes and connections are possible for the actual device be-
ing used.
The DS408 control capabilities for the Eaton AxisPro™ series of industrial valves:
VSC valve (spool) position control (aka. VPOC)
DSC drive speed control
DFP drive force/pressure control (aka. DFPC)
DPC drive position control
DPQ drive speed/pressure control (Eaton custom mode)
This document covers pre-programmed DS408 control capabilities for ranges of model codes as follows:
Single-Stage models:
- KBS1 (capability VSC via analog command input only)
- KBS2 (capability VSC, DSC, DFP, DPC, DPQ)
- KBS3 (capability subset equivalent to KBS2 with additional pressure sensing options)
- KBS4 (capability subset equivalent to KBS3DG4V)
Two-Stage models:
- KBH1 (capability VSC via analog command input only)
- KBH2 (capability VSC, DSC, DFP, DPC, DPQ)
Users familiar with CANopen will quickly identify, within Pro-FX™: Configure, the standardized concepts of CANopen
communication (CiA DS301) as well as the DS408 device profile, but for the purposes of this guide, the full details and
options provided by the device in accordance with the standards are not listed.
3. Acronyms
CAN controller area network
CiA CAN in Automation Alliance
DSC drive speed control
DFP/DFPC drive force/pressure control
DPC drive position control
DPQ drive speed/pressure control
Egnd Earth ground
OD object dictionary
SSI synchronous serial interface
VDC voltage direct current (DC)
VSC/VPOC valve spool position control
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Herein, OD parameters are referenced by hexadecimal index and subindex in the following short format:
[<Index>s<Subindex>]
Ex. CANopen LED Enable at object index 0x2001 subindex 0xC is displayed as [2001sC].
5. Qualified Personnel
This manual has been created for the use by professionals in the field of hydraulics power motion and control with the
appropriate knowledge of commissioning and optimization. Only skilled and trained personnel are advised to conduct
the installation, connection, configuration, programming and operation for AxisPro valve. Personnel must be able to
judge potential hazards arising from the above-mentioned tasks and also those arising, in general from the mechanical,
electrical or electronic equipment. Only personnel who are familiar with the working principles of the AxisPro valve are
recommended to install and service the product.
Pro-Fx: Control
For the ultimate flexibility into the control of your machine’s hydraulic motion (including concepts such as customized
ramps, coordinated master/slave axis arrangements, etc.), Pro-Fx: Control represents a major step forward in our IEC
61131-3 standards-based, application development environment. Pro-Fx: Control is intended for application develop-
ment on AxisPro KBS4 valves only. More information on Pro-Fx Control is available in later chapters.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
7. Installation
8. Identification
This manual contains description and guidance for products containing a specific firmware version. As listed on the
cover page, this manual applies to specific firmware version(s). In addition references are made to the model code of a
valve. These important pieces of information, as well as other identification values, are discoverable via CANbus.
Code Pin C
PC7/PE7 High impedance (0-10V) input,
interface 5
PH7/PR7 Valve Enable-Input function
Table 9-2 7pin Plug Pin C (Enable) Model Options
Code Pin F
F1 +/-10V
F2 4-20mA
F9 Disabled
Not encoded Custom configs
Table 9-4 7pin Plug Pin F (Monitor output) Model Options
Pin Signal
1 Egnd
2 ----
3 Egnd
4 CAN high
5 CAN low
Table 9-5 CANbus M12 Pinout
Typically, PC CANbus adapters incorporate a standard male DB9 connector with pins 7 and 2 as CAN high and CAN low re-
spectively.
All CANbus networks require the use of 120 ohm terminating resistors between CAN high and CAN low signal wires at the ex-
tents of the physical bus. This includes the simple network formed by a single valve to PC CANbus adapter for Pro-FX™:
Configure parameterization. Communication without a terminating resistor should be expected to be unreliable. As cable
length increases, bitrate is increased, or different devices are networked together, the need for termination becomes critical.
Longer physical bus lengths also require slower bitrates to be used for all devices. For further information on wiring and ter-
minating CANbus networks see CiA DS102.
The valve transmits a ‘heartbeat’ message via CANbus at a specified frequency. The message contains
the device’s present NMT state. A network master or other devices can receive the heartbeat message
and be informed that the device is still on the network and operating with a particular NMT state or take
action when the message is not received when expected.
If Heartbeat Producer Time [1017s0] value is 0, life-guarding protocol may be enabled by setting the
node guard time [100Cs0] and lifetime factor [100Ds0] to non-zero values. Life-guarding is disabled in
the AxisPro™ when the Heartbeat Producer Time is non-zero.
A network master or other device transmits a life-guard message on the bus cyclically. The AxisPro™,
with Life-Guarding enabled, will monitor for the life-guard message and respond. If the AxisPro™ does
not receive the node-guard message within the allowed maximum life time, it generates an error and at-
tempts to transmit an emergency message indicating life-guard error.
transmitted by the AxisPro™. If node guard time is zero, life guarding is not performed in the AxisPro™.
The analog sensor port, where present, interfaces to external 4-20mA sensors and pulse generating sensors
The digital sensor port, where present, interfaces to a single external SSI capable device, typically a position encoder with this
digital bus. The SSI port generates a clock signal to the external device and receives data containing the sensor value. The
accuracy and resolution of the data received is specific to the external device and wiring.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Pin Signal
1 Ground
2 +24V out
3 CLK -
4 DATA -
5 DATA +
6 NC
7 CLK +
8 NC
Table 9-12 SSI Port M12 Pinout
The maximum serial transmission length of the SSI port is 32bits. The valve will output 32 clock pulses regardless of the con-
figured bit size. The bit sampled on clock 1 is expected to be the most significant bit (MSB) of the measurement data unless
extra bits are prefixed to the data packet. The bit sampled on clock (Bit Size + Extra Bits) is expected to be the least signifi-
cant bit (LSB) of the data. Bits sampled after the LSB are ignored.
Bit Size
New filtered value = (old filtered value * weight) + (new SSI value * [1-weight])
Note: With this type of simple filter, there is significant lag introduced to the signal value. Choose the smallest fil-
ter weight that the application can tolerate.
The hydraulic port T temperature sensor is integral to the port T pressure transducer. The temperature response time is influ-
enced by the type and amount of fluid flowing through the valve body (port T) as well as the thermal conductivity of the sur-
rounding casting, assembly, and mounting surface.
11.3. CANopen Error LED and CANopen Status LEDs [B] & [C]
The valve supports the CiA DR303-3 indicator specification with RED & GREEN LED’s for CANopen communication.
The behavior of this LED can be customized. This could be a useful feature when running custom CoDeSys applications and
LED status would aid in providing visual status. This can be done by writing to 2001s8.
Mode Description
0 continuously off
1 continuously on
2 Blink Error states (see Table above). Default mode
3 Blink per rate specified in blink rate [2001s9] (millisecond per half period)
4 Single flash
5 Double flash
6 Triple flash
7 Fade on at blink rate
8 Fade off at blink rate
9 Fade on/Fade off
Table 11-6 Red Diagnostic LED modes [2001s8]
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
The GREEN Device Status LED default mode is to indicate the DS408 state ([2001sA] is set to “2”). The DS408 state follows
the state found in the Device Status Word [6041].
The behavior of this LED can be customized. This could be a useful feature when running custom CoDeSys applications and
LED status would aid in providing visual status. This can be done by writing to 2001sA.
Mode Description
0 continuously off
1 continuously on
2 Blink DS408 states (see Table). Default mode
3 Blink per rate specified in blink rate [2001sB] (millisecond per half period)
4 Single flash
5 Double flash
6 Triple flash
7 Fade on at blink rate
8 Fade off at blink rate
9 Fade on/Fade off
Table 11-8 Green Diagnostic LED modes [2001sA]
Criticality level of the diagnostic indicates the severity of the fault and determines the AxisPro™ reaction to the fault.
TEMP_OIL : Temperature of oil high or low limit diagnostic (KBS3 or KBS4 models only)
TEMP_PCB : Temperature on PCB high or low limit diagnostic
V_SUP : Supply Voltage high or low limit diagnostic
V_1.5 : Internal 1.5V supply high or low limit diagnostic
V_5VD : Internal 5V digital supply high or low limit diagnostic
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
12.1.7. Max
Per each threshold sensing diagnostic, the max value specifies the threshold where values equal to or above the
threshold trigger the fault manager to take action. Standard diagnostics cannot have their Max thresholds
changed.
12.1.8. Min
Per each threshold sensing diagnostic, the min value specifies the threshold where values equal to or below the
threshold trigger the fault manager to take action. Standard diagnostics cannot have their Min thresholds
changed.
Individual sensor diagnostics may be enabled or disabled via the Custom Diagnostics Enables bitfield [2002s1] where each bit
represents a single sensor diagnostic.
The Custom Diagnostics feature of the AxisPro™ uses the scaled sensor values DS408 Actual Value Conditioning (AVC) for
Drive Interfaces. Thus, high and low thresholds can be specified in configured units of pressure, temperature, position, etc…
Example:
System requires valve shutdown when pressure exceeds 200 Bar as sensed on external current input 1.
1. External current input 1 is configured per DS408 AVC to be a type 2 (pressure) sensor with related parameters con-
figured appropriately for 4-20mA conversion to millibar.
2. The Custom Diagnostics Input 1 Max value is set to 200000 millibar (200 Bar scaled to millibar)
3. The associated Custom Diagnostics Input 1 High Criticality is set to Fault Shutdown (level 5).
4. The diagnostic is enabled by setting bit 1 of the Custom Diagnostics Enables [2002s1].
The converted AVC value for input 1 is used to compare with the user min/max limits.
D/E : pins D/E high or low limit diagnostic (Drive AVC interface 0)
IN1 : external current sensor1 high or low limit diagnostic (Drive AVC interface 1)
IN2 : external current sensor2 high or low limit diagnostic (Drive AVC interface 2)
IN3 : external current sensor3 high or low limit diagnostic (Drive AVC interface 3)
IN4 : external current sensor4 high or low limit diagnostic (Drive AVC interface 4)
EXT : external enable input high or low limit diagnostic (Drive AVC interface 5)
SSI : SSI sensor high or low limit crossed diagnostic (Drive AVC interface 6)
BUS1: CANbus param 1 input high or low limit diagnostic (Drive AVC interface 7)
BUS2: CANbus param 2 input high or low limit diagnostic (Drive AVC interface 8)
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
SPEED1 : speed1 sensor high or low limit diagnostic (Drive AVC interface 9)
SPEED2 : speed2 sensor high or low limit diagnostic (Drive AVC interface 10)
PRESS_A : pressure sensor at port A high or low limit diagnostic (Drive AVC interface 11)
PRESS_T : pressure sensor at port T high or low limit diagnostic (Drive AVC interface 12)
PRESS_P : pressure sensor at port P high or low limit diagnostic (Drive AVC interface 13)
PRESS_B : pressure sensor at port B high or low limit diagnostic (Drive AVC interface 14)
TEMP_PCB : Temperature on PCB high or low limit diagnostic
TEMP_OIL : Temperature of oil high or low limit diagnostic (KBS3 or KBS4 models only)
Cust1 : Custom Variable 1 high or low limit diagnostic
Cust2 : Custom Variable 2 high or low limit diagnostic
Cust3 : Custom Variable 3 high or low limit diagnostic
Cust4 : Custom Variable 4 high or low limit diagnostic
VCM : Valve Mode Control Monitoring Function Enable
DCM : Drive Mode Control Monitoring Function Enable
DTW : Drive Mode Time Window Monitoring Function Enable
bit 24 bit 25 bit 26 bit 27 bit 28 bit 29 bit 30 bit 31
HB1 HB2 - - - - - -
12.2.7. Max
Per each threshold sensing diagnostic, the max value specifies the threshold where values equal to or above the
threshold trigger the fault manager to take action.
12.2.8. Min
Per each threshold sensing diagnostic, the min value specifies the threshold where values equal to or below the
threshold trigger the fault manager to take action.
Value Behavior
0 Setpoint 1 & 2 follow the value provided in the corresponding high or low Hold Setpoint for the Cus-
tom Variable Diagnostic upon entering hold mode.
1 Setpoint 1 is assigned the corresponding feedback value upon entering hold mode.
Setpoint 2 follows the value provided in the high or low Hold Setpoint 2 for the Custom Variable Di-
agnostic upon entering hold mode.
2 Setpoint 1 follows the value provided in the high or low Hold Setpoint 1 for the Custom Variable Di-
agnostic upon entering hold mode.
Setpoint 2 is assigned the corresponding feedback value upon entering hold mode.
3 Setpoint 1 & 2 are assigned their corresponding feedback values upon entering hold mode. Set-
points are not changed while in hold mode.
Note: Setpoint 1 is for Device Control Modes which have only one setpoint (all modes but mode 5-DPQ)
Device Control Mode 5 (DPQ) has two setpoints. DPQ-Setpoint 1 is the DFPC setpoint. DPQ-Setpoint 2 is the DSC setpoint.
Error codes are assigned a 16bit value per the following table.
Error Code occurrances are maintained in chronological order per the Error Fields of object [1003]. As new errors occur they
are inserted at the first subindex and older Error Codes are moved to the next higher subindex. A full list will have the next
generated error code push the oldest code off the list.
The last and still occurring error code is also duplicated to [604E].
Each source of error is categorized and enumerated with an Error Code. This code is part of the transmitted emergency
message. The number of errors currently present is saved in the object dictionary at [1003s0]. The Error Fields (@ [1003]) are
listed in reverse order of their occurrence.
See DS408 automapping for important capability and restriction on RPDO1, RPDO2, TPDO1, and TPDO2.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Const 11 bit CAN-ID
0 0 0 0 0 X X X X X X X X X X X
LSB
Subindex 2 - Transmission type - AxisPro™ supports these transmission types for RPDOs
RPDO Transmission Types Description
0 Values received in this RPDO channel are effective after every SYNC message
is received.
1 – 240 Values received in this RPDO channel become effective after this number of
SYNC messages is received.
254, 255 Values received in this RPDO channel are effective immediately
To change mappings:
1. (recommended) Set NMT state of the valve to pre-operational
2. (recommended) Disable the channel via the channel’s Communication Object – COB-ID.
3. Change the number of mapped object for the channel to 0. Note: This clears all previous mappings.
4. Change the mapping slots with desired parameter values as follows
<index><subindex><bitsize> where
Index = Object index to be mapped in hexadecimal format (16bits)
Subindex = Object subindex to be mapped in hexadecimal format (8 bits).
Bitsize = Size in bits of the object that is being mapped in hexadecimal format (8 bits)
Ex. To map the Device Control Word [6040s0] the mapping becomes:
Index 0x6040
Subindex 0x00
Bitsize 0x10 (16bits)
Mapping slot = 0x60400010
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Note that each channel can only hold 64bits from all 8 slots. E.g. three 32bit slots will not fit in one channel.
The AxisPro™ validates mappings for max length of 64bits.
5. Update the number of mapped objects for the channel based on how many mapping slots were configured.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Const 11 bit CAN-ID
0 0 0 0 0 X X X X X X X X X X X
LSB
sages from all networked devices. It is possible to overload the bus to the point where messages begin
to be lost or unable to be transmitted due to higher priority messages taking too much bus bandwidth.
Higher network bitrates, larger PDO event times, staggered synchronous PDO transmissions, and short-
er PDOs help relieve network bandwidth issues.
To change mappings:
1. (recommended) Set NMT state of the valve to pre-operational
2. (recommended) Disable the channel via the channel’s Communication Object – COB-ID.
3. Change the number of mapped object for the channel to 0. Note: This clears all previous mappings.
4. Change the mapping slots with desired parameter values as follows
<index><subindex><bitsize> where
Index = Object index to be mapped in hexadecimal format (16bits)
Subindex = Object subindex to be mapped in hexadecimal format (8 bits).
Bitsize = Size in bits of the object that is being mapped in hexadecimal format (8 bits)
Ex. To map the Device Control Word [6040s0] the mapping becomes:
Index 0x6040
Subindex 0x00
Bitsize 0x10 (16bits)
Mapping slot = 0x60400010
Note that each channel can only hold 64bits from all 8 slots. E.g. three 32bit slots will not fit in one channel.
The AxisPro™ validates mappings for max length of 64bits.
5. Update the number of mapped objects for the channel based on how many mapping slots were configured.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Digital State
machine NOT READY
System, Parameter, Interrupt,
Field bus, SW & HW Initiali-
zation
INIT
Controller disabled
DISABLED
FAULT_SHUTDOWN
Controller disabled
Controller disabled
HOLD FAULT_HOLD
With fixed known set point Controller enabled with
controller Enabled previous set point
NU – not used
Control Mode
Bit & Description Values
Specific
8 = Enable Pressure Controller 5 (DPQ) 0 = pressure control is prevented from running
(EP) 1 = pressure control is allowed to take control
All 0 = no reset function
3 = Reset Fault (R)
1 = request Fault reset
All 0 = not requested
2 = Device mode activate (DM)
1 = request Device state Active / Run (Device Control Mode Active)
1 = Hold enable (H) All 0 = not requested
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
The lower 4 bits of the Device Control Word are mutually dependent. The valid permutations of the lower 4 bits are
summarized in the following table.
Description Device Status Word [6041] lower 4 bits
Request INIT state 0b0000
Request DISABLED state 0b0001
Request HOLD state 0b0011
Request ACTIVE state 0b0111
Request FAULT HOLD to HOLD transition 0b1011
Request FAULT_DISABLED to DISABLED transition 0b1001
Table 16-3 Device Control Word lower 4 bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
NU NU NU RT Device Control Mode Spe- NU NU NU L R DM H D
cific
0 0 0 X X X NU X 0 0 0 X X X X X
MSB LSB
NU – not used
Control Mode
Bit & Description Values
Specific
All 0 = feedback is not within the specified target window
12 = Reached Target Window
1 = feedback is within the specified target window
All 0 = no control error
11 = Control Monitoring 1
1 = control threshold exceeded
All 0 = feedback has not exceeded demand limits
10 = Limit touched
1 = feedback has exceeded demand lower or upper limit
5 (DPQ) 0 = pressure control is presently not active
8 = Pressure Control Enabled
1 = pressure control is presently the active control
All 0 = Device Control Word is expected via bus
4 = Local Control
1 = Device Control Word is managed locally
All 0 = Device state is Not Ready or Faulted state
3 = Ready
1 = Device state is at or above Init state
All 0 = Device state is not Active / Run state
2 = Device Mode Active
1 = Device state is Active / Run (Device Control Mode Active)
All 0 = Device state is below Hold state
1 = Hold enable
1 = Device state is at or above Hold state
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
The lower 4 bits of the Device Status Word are mutually dependent. The valid permutations of the lower 4 bits are
summarized in the following table.
Description Device Status Word [6041] lower 4 bits
The Device is in NOT Ready state 0b0000
The Device is in the INIT state 0b1000
The Device is in the DISABLED state 0b1001
The Device is in the HOLD state 0b1011
The Device is in the ACTIVE state 0b1111
The Device is in the FAULT_HOLD state 0b0011
The Device is in the FAULT_DISABLED state 0b0001
Table 16-6 Device Status Word lower 4 bits
For Device Control Mode -1 (DPQ), DFP Setpoint [6580s1] and DSC Setpoint [6500s1]
are directly used and automapped to RPDO1 and RPDO2.
-1 1 +/-10V - Setpoint is derived from Pins D/E (interface 0) [6210s1]. Demand references
are scaled to -10000mV to +10000V min/max setpoints.
-2 - 10V – Setpoint is derived from Pins D/E (interface 0) [6210s1]. Demand references are
scaled to 0mV to +10000mV min/max setpoints
-10 2 4-20mA – Setpoint is derived from Pins D/E (interface 0) [6210s1]. Demand references
are scaled to 4000uA to 20000 uA min/max setpoints.
-11 3 +/-10mA – Setpoint is derived from Pins D/E (interface 0) [6210s1]. Demand references
are scaled to -10000uA to +10000uA min/max setpoints
-12 4 +/-15mA – Setpoint is derived from Pins D/E (interface 0) [6210s1]. Demand references
are scaled to -15000uA to +15000uA min/max setpoints
-13 - +/-20mA – Setpoint is derived from Pins D/E (interface 0) [6210s1]. Demand references
are scaled to -20000uA to +20000uA
-18 - Speed 1 – Setpoint is derived from Speed 1 (interface 9) [6219s1]. Demand references
are scaled to resolution [2175s4] and zero shift [2177s4].
-20 - +/-10V and Input 1 – Two setpoints are configured.
For Device Control Mode -1 (DPQ), Setpoint for DFP is derived from Pins D/E (interface
0) [6210s1] as per mode -1. Setpoint for DSC is derived from 4-20mA Input 1 (interface
1) [6211s1].
-21 - 10V and Input 1 – Two setpoints are configured.
For Device Control Mode -1 (DPQ), Setpoint for DFP is derived from Pins D/E (interface
0) [6210s1] as per mode -2. Setpoint for DSC is derived from 4-20mA Input 1 (interface
1) [6211s1].
-22 - 4-20mA and Input 1 – Two setpoints are configured.
For Device Control Mode -1 (DPQ), Setpoint for DFP is derived from Pins D/E (interface
0) [6210s1] as per mode -10. Setpoint for DSC is derived from 4-20mA Input 1 (inter-
face 1) [6211s1].
-23 - +/-10mA and Input 1 – Two setpoints are configured.
For Device Control Mode -1 (DPQ), Setpoint for DFP is derived from Pins D/E (interface
0) [6210s1] as per mode -11. Setpoint for DSC is derived from 4-20mA Input 1 (inter-
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
face 1) [6211s1].
-24 - +/-15mA and Input 1 – Two setpoints are configured.
For Device Control Mode -1 (DPQ), Setpoint for DFP is derived from Pins D/E (interface
0) [6210s1] as per mode -12. Setpoint for DSC is derived from 4-20mA Input 1 (inter-
face 1) [6211s1].
-25 - +/-10V and Input 1 – Two setpoints are configured.
For Device Control Mode -1 (DPQ), Setpoint for DFP is derived from Pins D/E (interface
0) [6210s1] as per mode -13. Setpoint for DSC is derived from 4-20mA Input 1 (inter-
face 1) [6211s1].
-40 - Input 1 and Input 2 – Two setpoints are configured.
For Device Control Mode -1 (DPQ), Setpoint for DFP is derived from 4-20mA Input 1
(interface 1) [6211s1]. Setpoint for DSC is derived from 4-20mA Input 2 (interface 2)
[6212s1].
-60 - Relative to feedback – Setpoint is taken from Bus param 1 (interface 7) [6217s1]. Val-
ue is interpreted as a command to move the setpoint relative to present feedback value.
Receipt of new setpoint value indicates to demand the present feedback value (at time
of receipt) plus the new value received.
For Device Control Mode -1 (DPQ), DFP Setpoint [6580s1] and DSC Setpoint [6500s1]
are directly used with relative interpretation and automapped to RPDO1 and RPDO2.
-80 - Signal Gen – Setpoint is taken from the internal signal generator output [2006sE]
Table 16-7 Device Mode values
Note: For valve models KBS1, only VCC and VSC options are supported.
Value Description
Via CANbus – value placed in Device Control Word location [6040] is
0
used
1 Local – valve attempts to enter Device Mode Active
Table 16-9 Device Local values
NOTES:
1. The External Enable Function is involved in machine state transitions. See External Enable function description for
special consideration when Device Local is set to Local.
2. For valve models KBS1, Via Bus option is not supported.
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
DS408 Mode Support
0 0 0 0 0 VSC VCC VLV 0 0 0 DPC DFP DSC OL DRV
MSB
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Eaton Specific Capability
Misc. Bits Sensor Port Bits Valve Size Bits Valve Level Bits
LSB
Automapping primarily follows the Device Control Mode [6043] selection, but special cases of the Device Mode [6042] are
taken into account. Channels TPDO2 and RPDO2 are open for user mapping when not used per an automapped Device
Control Mode.
Value Behavior
0 Automapping is disabled. Mappings that were otherwise automapped may be
changed
1 Automapping is requested
Table 16-21 Default PDO Mapping Enable Values
Only Device Control Mode -1 (DPQ) uses both setpoints. Setpoint 1 for DPQ mode is the DFP setpoint with correspond-
ing DFP feedback value. Setpoint 2 for DPQ mode is the DSC setpoint with corresponding DSC feedback value.
Value Behavior
0 Setpoint 1 & 2 follow the value provided in the corresponding Hold Setpoint of the De-
vice Control Mode upon entering hold mode.
1 Setpoint 1 is assigned the value of the corresponding feedback source upon entering
hold mode. Setpoint 1 is not changed after entering hold mode.
Setpoint 2 follows the value provided in the Hold Setpoint 2 of the Device Control Mode
(DSC Hold Setpoint) upon entering hold mode.
2 Setpoint 1 follows the value provided in the corresponding Hold Setpoint 1 of the De-
vice Control Mode upon entering hold mode.
Setpoint 2 is assigned the value of the corresponding feedback source upon entering
hold mode. Setpoint 2 is not changed after entering hold mode.
3 Setpoint 1 & 2 are assigned the value of their corresponding feedback source upon
entering hold mode. Setpoints are not changed after entering hold mode.
Valve Spool Control monitoring and Drive Control monitoring may be enabled simultaneously. The Control Monitoring bit
of the Device Status Word [6041s0] will reflect the Drive mode monitoring if the Device Control Mode [6043s0] is set to
DSC, DFP, DPC, or DPQ modes.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
CM upper threshold
Demand
Feedback
CM lower threshold
Control issue
Drive Control Modes share criticalities to specify the fault manager reaction to a control issue.
Drive Control Monitoring High Criticality [2002s79]
Drive Control Monitoring Low Criticality [2002s7A]
The function operates like a diagnostic and is reported in the diagnostic error status bits as well as the Reached Target
Window bit of the Device Status Word [6041s0] - bit 12.
Target window monitoring is not supported for “Valve” Device Control Modes (1,2,-10).
Feedback
TWM Switch Off time
17.3.4. VSC reference value (100% of physical capabilities) for direction A [6311s1]
The positive and negative reference values are the same for VSC control. The value represents the maximum
spool opening to the A and B port using internal resolution units. The value is not changeable from 16384.
3 Trapezoidal ramping.
The generated demand is limited based on a four
quadrant ramping profile. The four quadrants in
consideration are labeled:
0
a) Positive input acceleration
b) Positive input deceleration
c) Negative input acceleration
a b c d
d) Negative input deceleration
If the setpoint is never issued with a negative value
the negative input rates will never be utilized. Simi-
larly, if the setpoint is never issued with a positive
value the positive input rates will never be utilized.
Value Behavior
0 Directional Dependent Gain is disabled
1 Directional Dependent Gain is applied based on the Gain Factor specified
Table 17-2 Directional Dependent Gain options
If the Factor result is less than 1 and the setpoint is greater than 0 (demanding flow from Port A), the resulting
VSC DVG Demand value [6310s1] is computed by multiplying the Factor Result by the setpoint. Thus the de-
mand is limited (scaled down) in the A direction but not limited in the B direction.
If the Factor result is greater than 1 and the setpoint is less than 0 (demanding flow from Port B), the resulting
VSC DVG Demand value [6310s1] is computed by inverting the Factor Result and multiplying by the setpoint.
Thus the demand is limited (scaled down) in the B direction but not limited in the A direction.
Ex. a factor in hexadecimal form of 0x00010002 can be separated into upper and lower 16bit values
Upper 16bits 0x0001 = 1 (decimal) = numerator of factor
Lower 16bits 0x0002 = 2 (decimal) = denominator of factor
Factor result is numerator/denominator (1/2) = 0.5
Port A flow demands will be rescaled by 0.5, Port B flow demands will not be rescaled.
Ex2. a factor in hexadecimal form of 0x000F0003 can be separated into upper and lower 16bit values
Upper 16bits 0x000F = 15 (decimal) = numerator of factor
Lower 16bits 0x0003 = 3 (decimal) = denominator of factor
Factor result is numerator/denominator (15/3) = 5.0
Factor result is larger than 1, therefore it is inverted and applied to Port B.
Port A flow demands will not be rescaled, Port B flow demands will be rescaled by (1/5) = 0.2
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Note: The selected interface conversion applies selected scaling that was configured per that interface. These
conversions are done prior to the value being passed to the DPC control function.
17.4.11. DSC reference value (100% of physical capabilities) for direction A [6512s1]
This parameter specifies the positive 100% physical speed of the actuator. The value is entered with the same
scaling as the feedback sensor is calibrated within the valve. The direction is considered the positive demand di-
rection where demands above zero apply. In the rare case where a system has no positive velocity, the DSC
reference value for direction A should be set to 0.
Note: For analog setpoint sources, the maximum value provided by the analog source is aligned with the DSC
reference value for direction A.
Note: It is possible to demand and achieve a feedback more than the +100% setpoint (e.g. +110%) if the setpoint
source, feedback interface, and physical actuator can move that high. The reference values are primarily used to
scale setpoints from analog sources. To limit the demand use the DSC DVG Lower and Upper Limits.
17.4.12. DSC reference value (100% of physical capabilities) for direction B [6513s1]
This parameter specifies the negative 100% physical speed of the actuator. The value is entered with the same
scaling as the feedback sensor is calibrated within the valve. The direction is considered the negative demand
direction where demands below zero apply. If a system has no negative velocity, the DSC reference value for di-
rection B should be set to 0.
Note: For analog setpoint sources, the minimum value provided by the analog source is aligned with the DSC
reference value for direction B.
Note: It is possible to demand and achieve a feedback less than the -100% setpoint (e.g. -110%) if the setpoint
source, feedback interface, and physical actuator can move that low. The reference values are primarily used to
scale setpoints from analog sources. To limit the demand use the DSC DVG Lower and Upper Limits.
Ex. The lower limit can be set to 50% of the DSC Reference B value to limit the demand to -50%.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
3 Trapezoidal ramping.
The generated demand is limited based on a four
quadrant ramping profile. The four quadrants in
consideration are labeled:
0
e) Positive input acceleration
f) Positive input deceleration
g) Negative input acceleration
a b c d
h) Negative input deceleration
If the setpoint is never issued with a negative value
the negative input rates will never be utilized. Simi-
larly, if the setpoint is never issued with a positive
value the positive input rates will never be utilized.
5 S-curves.
The generated demand is acceleration and velocity
limited depending on the proximity of generated
demand to the desired setpoint.
a) Acceleration limit is applied when the set- 0
point is changed (beginning of move).
v) Velocity limit when the demand has suffi-
ciently accelerated or decelerated.
d) Deceleration limit as the demand value
v d a v d a v d a v
approaches the setpoint (end of move).
-1 S-curves.
Same as type 5 but for setpoint decreases in magni-
tude (setpoint moved closer to zero) the accelera-
tion and deceleration rates are swapped. This can
create a mirrored demand profile across the zero
setpoint line. 0
a) Acceleration limit is applied at the begin-
ning of the move if the magnitude of the
setpoint has increased or is applied at the
end of the move if the magnitude of the v a a v d d v a a v
setpoint has decreased.
v) Velocity limit when the demand has suffi-
ciently accelerated or decelerated.
i) Deceleration limit is applied at the begin-
ning of the move if the magnitude of the
setpoint has decreased or is applied at the
end of the move if the magnitude of the
setpoint increased.
Note: The output of the control is a demand to the valve spool control which has a demand range of +/-16384.
Note: The output of the control is a demand to the valve spool control which has a demand range of +/-16384.
Note:
1 - interface may be configured as pressure type (interface type 2) to be useful in this device control mode
2 - interface value is calculated as force when configured cylinder area is not 1. (force = pressure * cylinder area)
3 - differential pressure or force from two independent interfaces
4 - interface only available on KBS3 or KBS4 models
5 - interface type cannot be changed
All DFP control related parameters are listed here. Some are for reference only and others are essential.
No valve functions are affected by this parameter. It is provided for reference by other networked devices or for
configuration maintenance reasons and it is up to the user to set the value to the desired value.
17.5.11. DFP reference value (100% of physical capabilities) for direction A [6592s1]
This parameter specifies the positive 100% actual pressure of the actuator. The value is entered with the same
scaling as the feedback sensor is calibrated within the valve. The direction is considered the positive demand di-
rection where demands above zero apply. In the rare case where a system has no positive direction, the DFP
reference value for direction A should be set to 0.
Note: For analog setpoint sources, the maximum value provided by the analog source is aligned with the DFP
reference value for direction A.
Note: It is possible to demand and achieve a feedback more than the +100% setpoint (e.g. +110%) if the setpoint
source, feedback interface, and physical actuator can move that high. The reference values are primarily used to
scale setpoints from analog sources. To limit the demand use the DFP DVG Lower and Upper Limits.
17.5.12. DFP reference value (100% of physical capabilities) for direction B [6593s1]
In the rare circumstance where the system can be commanded to a negative pressure, this reference value sets
the negative 100% actual pressure of the actuator. The value is entered with the same scaling as the feedback
sensor is calibrated within the valve. The direction is considered the negative demand direction where demands
below zero apply. If a system has no negative direction, the DFP reference value for direction B should be set to
0.
Note: For analog setpoint sources, the minimum value provided by the analog source is aligned with the DFP ref-
erence value for direction B.
Note: It is possible to demand and achieve a feedback less than the -100% setpoint (e.g. -110%) if the setpoint
source, feedback interface, and physical actuator can move that low. The reference values are primarily used to
scale setpoints from analog sources. To limit the demand use the DFP DVG Lower and Upper Limits.
3 Trapezoidal ramping.
The generated demand is limited based on a four
quadrant ramping profile. The four quadrants in
consideration are labeled:
0
j) Positive input acceleration
k) Positive input deceleration
l) Negative input acceleration
a b c d
m) Negative input deceleration
If the setpoint is never issued with a negative value
the negative input rates will never be utilized. Simi-
larly, if the setpoint is never issued with a positive
value the positive input rates will never be utilized.
5 S-curves.
The generated demand is acceleration and velocity
limited depending on the proximity of generated
demand to the desired setpoint.
b) Acceleration limit is applied when the set- 0
point is changed (beginning of move).
w) Velocity limit when the demand has suffi-
ciently accelerated or decelerated.
e) Deceleration limit as the demand value
v d a v d a v d a v
approaches the setpoint (end of move).
-1 S-curves.
Same as type 5 but for setpoint decreases in magni-
tude (setpoint moved closer to zero) the accelera-
tion and deceleration rates are swapped. This can
create a mirrored demand profile across the zero
setpoint line. 0
b) Acceleration limit is applied at the begin-
ning of the move if the magnitude of the
setpoint has increased or is applied at the
end of the move if the magnitude of the v a a v d d v a a v
setpoint has decreased.
w) Velocity limit when the demand has suffi-
ciently accelerated or decelerated.
n) Deceleration limit is applied at the begin-
ning of the move if the magnitude of the
setpoint has decreased or is applied at the
end of the move if the magnitude of the
setpoint increased.
Note: The output of the control is a demand to the valve spool control which has a demand range of +/-16384.
Note: The output of the control is a demand to the valve spool control which has a demand range of +/-16384.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
All DPC control related parameters are listed here. Some are for reference only and others are essential.
78 Bar
86 Newton-meter (Nm)
90 Inch (in)
91 Feet (ft)
92 Pounds per square inch (PSI)
93 Rotations per minute (RPM)
95 Inches per second (in/s)
106 Feet per second (ft/s)
107 Pound Force (lb f)
108 Other (-)
160 Meter per second
Since this is a switched integrator the integrator can be configured to not be active for the entire movement of the
actuator. The integral term is “switched” into use based on the control deviation/error absolute value and the dX
value. If the absolute value of the control deviation/error is less than the switched integrator dX value, the inte-
gral term is enabled. If the absolute value of the control deviation/error is larger than the dX value the integral
calculation
The integral term can be enabled more permanently by making the dX value larger than the largest possible con-
trol deviation/error.
To disable the integral term, make the Ki gain zero.
Integral control response = Ki/1000 * (internal feedback – internal demand)
Units are [valve spool position unit] / [internal feedback unit] or [valve spool position unit] / [feedback unit/1000]
The valve spool position unit is +/-16384 counts over the rated flow range A to B.
Units are implied to be the same unit as the control deviation/error, demand, and feedback.
17.6.15. DPC reference value (100% of physical capabilities) for direction A [6612s1]
This parameter specifies the positive 100% physical position of the actuator. The value is entered with the same
scaling as the feedback sensor is calibrated within the valve. The direction is considered the positive demand di-
rection where demands above zero apply. In the rare case where a system has no positive direction, the DPC
reference value for direction A should be set to 0.
Note: For analog setpoint sources, the maximum value provided by the analog source is aligned with the DPC
reference value for direction A.
Ex. A cylinder shall extend positively 30.48cm (12in). The setpoint is derived from pins D/E in +/-10V mode. The
feedback sensor can resolve micrometers (25.4mils). DPC reference value for direction A should be set to
304800 um (or set to 12000 mils). Thus to achieve 304800um (12000 mils) the setpoint of +10V would be re-
quired.
Note: It is possible to demand and achieve a feedback more than the +100% setpoint (e.g. +110%) if the setpoint
source, feedback interface, and physical actuator can move that high. The reference values are primarily used to
scale setpoints from analog sources. To limit the demand use the DPC DVG Lower and Upper Limits.
17.6.16. DPC reference value (100% of physical capabilities) for direction B [6613s1]
This parameter specifies the negative 100% physical position of the actuator. The value is entered with the same
scaling as the feedback sensor is calibrated within the valve. The direction is considered the negative demand
direction where demands below zero apply. If a system has no negative direction, the DPC reference value for
direction B should be set to 0.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Note: For analog setpoint sources, the minimum value provided by the analog source is aligned with the DPC
reference value for direction B.
Ex. A cylinder shall extend negatively -15.24cm (6in). The setpoint is derived from pins D/E in +/-10V mode. The
feedback sensor can resolve micrometers (25.4mils). DPC reference value for direction B should be set to -
152400 um (or set to -6000 mils). Thus to achieve -152400um (-6000 mils) the setpoint of -10V would be re-
quired.
Note: It is possible to demand and achieve a feedback less than the -100% setpoint (e.g. -110%) if the setpoint
source, feedback interface, and physical actuator can move that low. The reference values are primarily used to
scale setpoints from analog sources. To limit the demand use the DPC DVG Lower and Upper Limits.
3 Trapezoidal ramping.
The generated demand is limited based on a four
quadrant ramping profile. The four quadrants in
consideration are labeled:
0
o) Positive input acceleration
p) Positive input deceleration
q) Negative input acceleration
a b c d
r) Negative input deceleration
If the setpoint is never issued with a negative value
the negative input rates will never be utilized. Simi-
larly, if the setpoint is never issued with a positive
value the positive input rates will never be utilized.
5 S-curves.
The generated demand is acceleration and velocity
limited depending on the proximity of generated
demand to the desired setpoint.
c) Acceleration limit is applied when the set- 0
point is changed (beginning of move).
x) Velocity limit when the demand has suffi-
ciently accelerated or decelerated.
f) Deceleration limit as the demand value
v d a v d a v d a v
approaches the setpoint (end of move).
-1 S-curves.
Same as type 5 but for setpoint decreases in magni-
tude (setpoint moved closer to zero) the accelera-
tion and deceleration rates are swapped. This can
create a mirrored demand profile across the zero
setpoint line. 0
c) Acceleration limit is applied at the begin-
ning of the move if the magnitude of the
setpoint has increased or is applied at the
end of the move if the magnitude of the v a a v d d v a a v
setpoint has decreased.
x) Velocity limit when the demand has suffi-
ciently accelerated or decelerated.
s) Deceleration limit is applied at the begin-
ning of the move if the magnitude of the
setpoint has decreased or is applied at the
end of the move if the magnitude of the
setpoint increased.
Note: The output of the control is a demand to the valve spool control which has a demand range of +/-16384.
Note: The output of the control is a demand to the valve spool control which has a demand range of +/-16384.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Many object dictionary entries have user level security which limits access. The user level may apply to read requests,
write requests, or both.
Any user access – parameters have no security and are accessible to all users.
Service user access – parameters are not to be edited regularly or are to be prevented from read and/or write.
The service access key code is required to be present in the object value below to allow access to service access
parameters. Attempts to edit these parameters without the correct service access key code is responded to by
the SDO abort code: “Unsupported object access”.
User level access is identified in the EDS file. For each object listed in the EDS file a field labeled “ODPwd” is appended.
This field indicates if the object is password protectable with a specific user access level and the type of protection given
(read or write access).
To protect changes to parameters the service password can be changed from the default value (Eaton default service
password) to a customer specified value. Storing the Eaton default value to the service password [2000s2] in the Axis-
Pro™ effectively disables service password protection.
To remove service password protection change the service password back to the Eaton default service password using
the steps above.
Important Note: The restore factory defaults mechanism will clear the service password only if firm-
ware 6026641-006D or 6035218-002 or higher (per [100As0]) is in use.
This parameter swaps the operation of CAN bus controllers between connector location 2 and connector locations 4/5.
Useful on CoDeSys enabled valves to exchange CANbus operation with the non-CoDeSys CANbus port(s) if the built-in T-
connection of location 4/5 is desired to be used with CoDeSys CANbus.
“disable control” - prevents transitioning above Disable state. If the DS408 state machine is already in De-
vice Mode Hold state or Device Mode Active state, a “disable control” request transitions the DS408 state
machine to Disable state. Transition to/from Init state and Disable state is possible.
Value Description
0 Reset entire device
1 Reset non-CoDeSys operations
Table 18-2 CoDeSys Reset Options
Value Description
0 +/- 10 volt signal is generated
1 4-20mA signal is generated
4 Output is disabled
Table 18-3 Monitor Output Types
Value Behavior
0 = Auto When Device Control Mode [6043s0] is set to 1 (VCC mode) the Monitor Output auto mode
generates a signal proportional to the solenoid current feedback [6111s1]
The minimum output signal (-10V or 4mA) is aligned with a feedback value of 0mA.
The midpoint of the output signal range (0V or 12mA) is aligned with the feedback of 2069 mA.
The maximum output signal (+10V or 20mA) is aligned with a feedback value of 4138mA.
For all other Device Control Modes [6043s0], the Monitor Output auto mode generates a signal
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Value specified must be less than the max duty cycle and larger than the min duty cycle.
The Pro-FX™: Configure installation provides several options for PC USB peripheral CANbus adapters supported by the
software. During installation the user can choose to install drivers for an available CANbus adapter.
*The PCAN-USB adapter is recommended for compatibility with Eaton Pro-FX™: Control or CoDeSys development envi-
ronment used with KBS4, KBH2 and other Eaton FX products.
Toolbar – contains often used commands, including: NMT state controls and the CANbus Traffic Monitor
App bar – contains the detected device and OD grouping tree, messages, NMT status and device information
Status bar – indicates the CANbus network status and Pro-FX™: Configure version
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Traffic
Monitor NMT Toolbar
Controls
Detected
Device
App bar
Categorized
Emergency
Messages
Device
NMT State
Device
Info
Status bar
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Reset communications:
Networked devices receiving this command from the bus are expected to reset their communication state
machine. The AxisPro™ valve’s parameters of the communication profile area (object indices 0x1000 to
0x1FFF) are set to their power-on values.
Reset node:
Networked devices receiving this command from the bus are expected to reset as if they were power cycled.
The AxisPro™ valve resets the processor internally and all parameters are initialized to their power-on val-
ues and NMT bootup ensues. Although this is a processor reset, this type of reset does not increment the
power cycle count.
Enter Pre-Operational:
Network devices receiving this command from the bus are expected to enter pre-operational communication
state. The AxisPro™ valve disables PDO protocol in this state. Configuration of object dictionary parame-
ters is recommended in this state and is accomplished using SDO protocol.
Enter Operational:
Network devices receiving this command from the bus are expected to enter operational communication
state. The AxisPro™ valve allows PDO protocol in this state. Object dictionary access via SDO is also pos-
sible. Effectivity of some communication profile parameter changes may require a transition to pre-
operational and back to operational state or a NMT reset communication command.
NOTE: It is important to consider that in a CANopen network only one NMT master should be present and controlling the
state of the entire network where such functionality is required. Any commands sent by Pro-FX™: Configure may be in
conflict with what the designated network (NMT) master has already sent or be duplicates of previously sent messages.
The user shall ensure that any communication from Pro-FX™: Configure does not adversely affect other network
devices/nodes and critical network requirements.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Parameters are grouped per their functionality such as Comm. parameters, DS408 parameters, Sensors, etc…
Expand the detected device object dictionary categories in the device tree on the App bar. Click on the device name or
any group to open the Configurator window and Pro-FX™: Configure will read the parameters in the grouping selected
from the AxisPro™ valve. To refresh the displayed parameters, click “Load From System” button from the Configurator
toolbar.
The Configurator data field can be displayed in decimal or hexadecimal. The Index and Subindex fields are always shown
in hexadecimal.
Send
Changed
Data
Expand
Categories
To change a parameter, enter the desired value into the Configurator data column and press enter. The status
column for the entry should change to “modified by user” and the background color of the entry should change.
At this point the value has not been sent to the valve. Then click “Save To System”. The status column for the
entry will indicate if the value was transmitted to the valve. Multiple parameters can be edited on the same Con-
figurator screen before clicking the “Save To System” button.
Send each changed parameter to the valve by editing and then using the “Save To System” button in the Config-
urator. Then right-click anywhere on the Configurator and a contextual menu appears. Select “Commit RAM
Values to EEPROM,“ and Pro-FX™: Configure will issue the save to EEPROM command for all parameters.
Note: The Configurator does not indicate which parameters can be stored to EEPROM. Continuously changing
parameters such as sensor readings and commanded setpoint are examples of parameters that are not stored.
Note: Using this option will restore all parameters and overwrite any stored values in EEPROM with factory de-
faults and model code options.
Contextual
Menu
(right-click)
Device Label
Saving a DCF
Click the device label in the device tree. The OD Configurator will retrieve all parameters present in the device
per the EDS used by Pro-FX™: Configure. Clicking the “Save To Disk” button will save the parameters as a DCF
file format. The “Save To Disk” button becomes available only while all parameters are displayed in the OD Con-
figurator (click root of the parameter tree).
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Loading a DCF
Click the device label in the device tree. The OD Configurator will retrieve all parameters present in the device
per the EDS used by Pro-FX™: Configure. Clicking the “Load From Disk” button will populate the OD Configura-
tor with all parameters found in the DCF file. Clicking “Save to System” will send the changed parameters to the
valve’s RAM. Those parameters that are stored in EEPROM will not be saved to EEPROM unless the “Commit
RAM values to EEPROM” (section 19.8.2) process is executed.
Device State – indicates the DS408 state machine status (power-on default: INIT) [6041s0]
o INIT device control inactive, initial state
o DISABLED device control mode inactive
o HOLD device control mode active with hold setpoint only
o DEVICE MODE ACTIVE device control mode active and normal function
o FAULT critical fault state, device control mode inactive
o FAULT HOLD fault state, device control mode with hold setpoint
Device Control Mode – indicates the control mode in use by the valve (power-on default: per model code) [6043s0]
o No internal valve and drive controls are disabled
o VCC valve current control of the solenoid (open loop spool control)
o VSC valve closed-loop spool control
o DSC drive speed control
o DFP drive force/pressure control
o DPC drive position control
o DPQ force/pressure flow control
Device Mode – control mechanism (power-on default: per model code) [6042s0]
o M1 +/-10V analog command input
o M2 4-20mA analog command input
o M3 +/-10mA analog command input
o M4 +/-15mA analog command input
o M9 Setpoint via CANbus
Device Local – control word source (power-on default: per model code) [604Fs0] or [6041s0 bit 4]
o Local device control word generated internally
o CANbus device control word accepted from CANbus
Actual Value – feedback value for the device control mode (power-on default: per device control)
o VCC current through the solenoid (internal sensor) [6301s1]
o VSC spool position (internal LVDT sensor) [6301s1]
o DSC speed signal from sensors (external signal) [6501s1]
o DFP force/pressure from sensors (internal or external sensor) [6581s1]
o DPC position from sensors (external sensor) [6601s1]
o DPQ force/pressure and speed from sensors (internal or external sensors) [6501s1 & 6581s1]
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Note: Device State and Actual Value are read by enabling and receiving TPDO1 which is configured for Device
Status Word and Actual Value if the DS408 Default PDO Mapping (automapping) feature is enabled and the
valve’s NMT state is “operational”. When this widget is turned “ON” the rate indicated by the Event Timer selec-
tion will be issued to the TPDO1 Event Timer. The remaining values are read by SDO protocol at the rate speci-
fied.
Refresh
Commit values to EEPROM – when checked the settings will be written to RAM as well as EEPROM
when the Update DS408 Param button is pressed. This is the same functionality as the contextual
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
menu option, “Commit RAM Values To EEPROM,” in the OD Configurator. Saving to EEPROM pre-
serves the settings across power cycles.
Setpoint – a setpoint slider, manual entry box, and waveform generator options are available if the De-
vice Mode is set to a CANbus choice. If the Device Mode is set to another type, the setpoint is derived
from the configured source and the control widget setpoint options are disabled.
Command
device state
via Device
Control Word
Click here
to start M9 Setpoint via
widget bus will be com-
transmis- manded from here
sions. Rate when widget is
is configu- “on”
rable
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Before using the DS408 graphical configurator the required Device Control Mode would be selected using the DS408 Control
widget as shown in the image below. The present Device Control Mode is displayed in the DS408 Device Monitor widget
when the widget is “on”.
Device
Control
Mode
Click Limit block to set the min Click Ramp block to set rates of
and max setpoint values al- change limits on the setpoint
Setpoint value lowed to be passed to the de- which condition the demand val-
(continuously updated) mand value. ue.
Resulting
demand value
(continuously
updated)
Click Hold Setpoint to set the con- Click Reference Value to set the
stant setpoint used when device is in minimum (B) and maximum (A)
“hold” state. Hold Setpoint is also values received from the set-
used for “fault hold” state when con- point source. Used for internal
figured properly. scaling and limit checks.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Click here to
configure
the feed
forward gain
Click here to
configure
the deriva-
tive gain
Click
here to
configure
the feed
forward
gain
Click here
to configure
the propor-
tional gain
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Pro-FX: Configure provides the ability to generate SYNC messages for debugging purposes if the network device which
generates the SYNC is offline via the SYNC Generator widget. There should be only one SYNC producer on network.
The time period between the SYNC messages transmitted from the widget s is specified by the communication cycle peri-
od (rate) as shown in below image, which can be set in terms of millisecond. There can be a time jitter in transmission by
the SYNC producer corresponding approximately to the latency due to some other message being transmitted just before
the SYNC.
The SYNC generator can auto-enable and begin sending transmissions at the rate specified when the presently connect-
ed AxisPro™ has PDOs configured with synchronous transmission types [ex. 1400s2 = 0 to 240 or 1800s2 = 0 to 240].
Pro-FX: Configure reads the PDO configurations as part of device detection. This auto-enable is turned on via the “auto-
matic” checkbox on the SYNC widget.
If the “automatic” checkbox is not checked the SYNC producer can be turned on or off manually via the provided buttons.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
19.13. Diagnostics
The AxisPro™ device health can be monitored and reacted-to using configurable diagnostics for sensors and valve be-
haviors. Critical parameters are continuously monitored and some parameters can be configured for the level of criticality
or disabled from being monitored.
The Pro-FX™: Configure Diagnostics widget organizes many of the diagnostic object dictionary parameters for easy con-
figuration and monitoring.
Diagnostic data related to each parameter can be logged in a *.csv file. Each diagnostic has an upper and lower limit con-
figuration. Status for each monitor (in/above/below range) is displayed.
Diagnostics which are always important to proper functioning of the AxisPro™, such as supply voltage, are greyed in the
Diagnostics widget and cannot be altered. These critical diagnostics will be continuously monitored by AxisPro™.
Many diagnostics can be edited per application requirement. Diagnostics are enabled by setting bits in the Diagnostic En-
ables mask. The mask bits are set or cleared by using the checkboxes shown in the Diagnostic widget.
The status of all diagnostics can be quickly determined by reading the Fault Status Word which is a bit field having each
bit represent one diagnostic state of ok or fault.
See related: Fault Status Word
Messages
Error Fields
It is a best practice to save machine settings and tunings to a DCF file or other stor-
age method (PLC program, paper copy, etc...) and properly manage/archive the
saved configuration or service passwords so that machine tunings and settings can
be readily serviced or replaced in the event that a service password is lost or forgot-
ten.
If valve was still locked prior to attempting to change the password an error message is displayed.
The service password function may be removed/disabled in the valve by writing the default value. This pro-
cess is automated by clicking on Tools-> Service Password-> Disable Password. The valve must be un-
locked prior to issuing this command. If the valve is not unlocked for service access, the sequence will fail
and the password will remain in effect.
On Reset All, Reset Node and Power cycle to valve, a valve with a service password in effect will be locked.
On connecting to the AxisPro™, if access to a service protected parameter is denied, Pro-FX: Configure re-
trieves the password from Configuration-> Options and sends it to the valve.
If saved password does not unlock the access, a prompt to enter the correct password is shown.
The valve limits the number of tries to enter the service password correctly to 4 attempts per reset.
Thus, counting the initial attempt made by Pro-FX: Configure, a maximum of three incorrect password at-
tempts can be made before the AxisPro™ prevents further attempts to unlock and a reset is required to try
again.
If the correct password is entered, a prompt to save the password to the PC (Configuration->Options) is giv-
en.
If user entered password, does not unlock the valve, an error message is displayed as shown below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
If the AxisPro™ is determined to be locked for service access, windows DS408 control, DS408 monitor,
DS408 graphical configurator, monitor output, sync generator and diagnostics will be closed.
User can view or change the service password which was saved to the PC in Configuration->Options->Save
Password tab.
To change service password from Configuration-> Options, click on Change Service Password.
Change Service Password dialog is displayed with the saved password loaded:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Save To Disk’ Click, a confirmation dialog to save DCF password will be shown:
If the password is forgotten/lost, the only mechanism available to clear the password and allow access to
service protected parameters is to restore the valve to its default (factory shipped) settings using ‘Set Facto-
ry Defaults’ from tile mode or by reading all parameters into the OD configurator and right-clicking on the OD
configurator and selecting “Restore All Factory Values” option.
Note: Any customized configurations or tunings are lost upon issuance of the Set Factory Defaults.
Best practices require saving machine settings and tunings to a DCF file or other storage method (paper,
PLC program, etc...) and properly manage service passwords so that machine tunings and settings can be
readily serviced or replaced.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
20.1. Navigation
To navigate to tile mode, click on the Tile mode button in toolbar on the advanced mode as shown below.
Tile Mode
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Launch About
Information box
Select advance mode Reset factory Parameters See and Log valve parameters
diagnostics
User cannot proceed with wizards if device is not connection and following error message is displayed.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For firmware 6026641-006 and above, User cannot proceed with wizards if device is locked and following er-
ror message is displayed.
Valve Model Code: On wizard launch, model code will be pulled from valve to update the mentioned text area.
Model code may differ from original order code due to previous user changes.
Serial Number: On wizard launch, serial number will be pulled from valve to update the mentioned text area
Valve Level: On wizard launch, device capability will be pulled from valve to determine valve level.
Sensor Port Configuration: On wizard launch, device capability will be pulled from valve determine valve sen-
sor type is analog or digital.
Select Application:
Select application display control modes supported by valve
On launch, the current active mode is selected.
Control modes supported by wizards are:
a. Position control
b. Speed or Velocity Control
c. Pressure or Force control
d. Speed and Pressure Control
Select Units:
Unit and prefix are loaded from the firmware for selected control mode.
Units selected by the user are saved in the firmware on next click.
The AxisPro™ firmwares 6026641-005 and below do not have the capability to store the unit and unit prefix.
Units selected in the wizard are effective only for the remainder of the wizard screens.
User can change the unit and its prefix from the options given below.
Selected units are used throughout the wizard and conversion of values from selected units to base unit takes
place.
Next:
On ‘Next’ click, a safety warning is displayed as shown below
On ‘System is Safe’ Click, user continues with valve configuration to Save Configuration step.
On ‘Cancel’ Click, user is exited from wizards and redirected to Tile mode home screen.
Exit:
On ‘Exit’ Click, a warning is displayed as shown below
On ‘Exit’ Click, user is exited from wizards and redirected to Tile mode home screen.
Connect:
On ‘Connect’ Click, User can connect to an AxisPro valve detected by the system.
Default MDCF file save location is – “(User Specific App Data Folder)\ ControlProfiles\xx.mdcf”
On Browse (…) click as shown below, the File Open dialog is launched to select a folder location.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
When DPC is selected in application configuration step 1, below listed interfaces are listed in the sensor
configuration step for valve level 2 or higher (KBS2, KBS 3, KBS4) with Digital SSI sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For 7pin Connector Pins D and E (interface 0) sensor interface selection, there is a provision to select the
raw signal coming on physical pins as either mV or mA.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For valve with analog sensor port and Speed Input 1 (interface 9) selection, on Next click, a message is
prompted to choose Quadrature encoder provided to choose either of Quadrature Encoder or Speed in-
put as sub type.
For Bus Object 1 (interface 7) or Bus Object 2 (interface 8) selection, confirmation message is displayed
if recalibration is required.
On Yes Click, Type 64 sensor configuration for CANbus object is displayed as shown below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For SSI port (interface 6) selection (only for Digital feedback sensing valve), sensor configuration step
provides the option to either select Type 65 or Type 66 with the help of Combo Box.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On Next Click, SSI configuration step is launched with content listed below for entering details from sen-
sor data sheet. (Type 65 = Binary SSI sensor and Type 66= Gray Code SSI sensor)
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, position is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, position is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On Yes Click, Differential Input –Calibrate Interface 1 step is launched after Sensor Configuration step as dis-
played below.
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On increment (+) click, position is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, position is decremented by percentage value entered in the text box highlighted below
Raw signal feedback is displayed only for valve with Analog sensor port.
On Yes Click, Differential Input –Calibrate Interface 2 step is launched after Sensor Configuration step as dis-
played below.
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On increment (+) click, position is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, position is decremented by percentage value entered in the text box highlighted below
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For interface 15 to interface 26, Differential Input – Capture Working Range <Differential Interface> step is
launched after Differential Input – Calibrate <Interface 2> step as displayed below:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, position is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, position is decremented by percentage value entered in the text box highlighted below
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For any closed loop control system to function properly there is a need of feedback sensor measuring output perfor-
mance in terms of physical units and giving back to control algorithm which in turn drives the output to its setpoint.
Various feedback sensors which can participate in DSC control mode. Below listed are multiple sensor interfaces
which are supported by AxisPro valve for measuring speed.
For ‘7pin Connector Pins D and E’ (interface 0) sensor interface selection, there is a provision to select the raw
signal coming on physical pins as either mV or mA.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For Bus Object 1 (Interface 7) or Bus Object 2 (Interface 8) selection, Type64 sensor configuration step is dis-
played
For interface 10 selection, the sensor configuration has sub interface selection as Quadrature Type or Speed
sensor
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For Speed Input 2 (interface 10) subtype is chosen as speed/frequency input, on Type64 sensor configuration
step following Options are displayed.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For Speed Input 2 (interface 10) subtype is chosen as Quadrature Encoder Input, on Type64 sensor configura-
tion step following options are displayed.
Note: Quadrature encoding uses both speed input pins on the analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
When DSC is selected in application configuration step 1, below listed interfaces are listed in the sensor configu-
ration step for valve of level 2 or higher (KBS2, KBS 3, KBS4) with Digital SSI sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For SSI Port (interface 6) sensor interface selection, SSI configuration is displayed as shown below to enter de-
tails from sensor data sheet. Type 65 = Binary SSI sensor and Type 66= Gray Code SSI sensor
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For interface 0 to interface 10, Valve Calibration step is launched after Sensor Configuration step as displayed
below:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, speed is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, speed is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For any closed loop control system to function properly there is a need of feedback sensor measuring output perfor-
mance in terms of physical units and giving back to control algorithm which in turn drives the output to its setpoint.
Various feedback sensors which can participate in DFPC control mode. Below listed are multiple sensor interfaces
which are supported by AxisPro valve for measuring pressure.
When DFPC is selected in application configuration step 1, below listed interfaces are listed in the sensor config-
uration step for valve level 2 or higher (KBS2, KBS 3, KBS4) with Analog sensor port.
For ‘7pin Connector Pins D and E’ (interface 0) sensor interface selection, there shall be provision to select the
raw signal coming on physical pins as either mV or mA.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For Pressure Port A (interface 11), Pressure Port T (interface 12), Pressure Port P (interface 13) and Pressure
Port B (interface 14), the user is prompted with the confirmation for recalibrating pressure sensors
For Bus Object 1 (interface 7) or Bus Object 2 (interface 8) sensor interface selection, the SSI sensor configura-
tion step is displayed as shown below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
When DFPC is selected application configuration step, below listed interfaces are listed in the sensor configura-
tion step for valve level 2 or higher (KBS2, KBS 3, KBS4) with Digital SSI sensor port.
For level 3,4 valve, the possible interfaces available for selection
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For SSI Port (interface 6, only possible with Digital feedback sensing valve) sensor interface selection, the follow-
ing options are displayed to either select Type 65 or Type 66.
On Next Click, the SSI configuration step is launched with content listed below for entering details from sensor
data sheet. Type 65 = Binary SSI sensor and Type 66= Gray Code SSI sensor
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, pressure is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, pressure is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Done’ click, min pressure parameters for respective interface are set for the value entered in the text box.
On Yes Click, Differential Input –Calibrate Interface 1 step is launched after Sensor Configuration step as dis-
played below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, pressure is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, pressure is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On Yes Click, Differential Input –Calibrate Interface 2 step is launched after Sensor Configuration step as dis-
played below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, pressure is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, pressure is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For interface 15 to interface 26, Differential Input – Capture Working Range <Differential Interface> step is
launched after Differential Input – Calibrate <Interface 2> step as displayed below:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, pressure is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, pressure is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For any closed loop control system to function properly there is a need of feedback sensor measuring output perfor-
mance in terms of physical units and giving back to control algorithm which in turn drives the output to its set point.
Various feedback sensors which can participate in DPQ control mode. DPQ control mode is a combination of DSC
and DFPC mode. Below listed are multiple sensor interfaces which are supported by AxisPro valve for measuring
speed and pressure.
For firmware 6026641-006 or higher, user will be able to configure DPQ process mode as below:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Unit and prefix are loaded from the firmware for selected control mode.
Units selected by the user are saved in the firmware on next click.
The AxisPro™ firmwares 6026641-005 and below do not have the capability to store the unit and unit prefix.
Units selected in the wizard are effective only for the remainder of the wizard screens.
User can change the unit and its prefix from the options given below.
Selected units are used throughout the wizard and conversion of values from selected units to base unit takes
place.
Prefixes allowed:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
None
Micro (μ)
Prefixes allowed:
None
Micro (μ)
Prefixes allowed:
None
Prefixes allowed:
None
Deci (d)
Prefixes allowed:
None
For ‘7pin Connector Pins D and E’ (interface 0) sensor interface selection, there is a provision to select the raw
signal coming on physical pins as either mV or mA.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For Bus Object 1 (Interface 7) or Bus Object 2 (Interface 8) selection, Type64 sensor configuration step is dis-
played as below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For interface 10 selection, the sensor configuration has sub interface selection as Quadrature Type or Speed
sensor
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For Speed Input 2 (interface 10) subtype is chosen as speed/frequency input, on Type64 sensor configuration
step following Options are displayed.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For Speed Input 2 (interface 10) subtype is chosen as Quadrature Encoder Input, on Type64 sensor configura-
tion step following options are displayed.
Note: Quadrature encoding uses both speed input pins on the analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
When DSC is selected in application configuration step 1, below interfaces are listed in the sensor configuration
step for valve of level 2 or higher (KBS2, KBS 3, KBS4) with Digital SSI sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For External Enable (interface 5) sensor interface selection, SSI configuration is displayed as shown below to en-
ter details from sensor data sheet. Type 65 = Binary SSI sensor and Type 66= Gray Code SSI sensor
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Speed/Velocity Control Valve Calibration step is launched after Speed/Velocity Control Sensor Configuration step
as displayed below:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, speed is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, speed is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
After Speed/Velocity control valve calibration step, on Force/Pressure control sensor configuration step below inter-
faces are listed for valve level 2 or higher (KBS2, KBS 3, KBS4) with Analog sensor port.
For ‘7pin Connector Pins D and E’ (interface 0) sensor interface selection, there shall be provision to select the raw
signal coming on physical pins as either mV or mA.
For Pressure Port A (interface 11), Pressure Port T (interface 12), Pressure Port P (interface 13) and Pressure Port B
(interface 14), the user is prompted with the confirmation for recalibrating pressure sensors
For Bus Object 1 (interface 7) or Bus Object 2 (interface 8) sensor interface selection, Force/Velocity control Type64
sensor configuration step is displayed as shown below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
After Speed/Velocity control valve calibration step, on Force/Pressure control sensor configuration step below inter-
faces are listed for valve level 2 or higher (KBS2, KBS 3, KBS4) with Digital SSI sensor port.
For level 3,4 valve, the possible interfaces available for selection
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For SSI Port (interface 6, only possible with Digital feedback sensing valve) sensor interface selection, the following
options are displayed to either select Type 65 or Type 66.
After sensor sub type selection, Force/Pressure control SSI configuration step is launched with content listed below
for entering details from sensor data sheet. Type 65 = Binary SSI sensor and Type 66= Gray Code SSI sensor
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
If interface selection is same as the interface selection Speed/Velocity Control Sensor Configuration, following warn-
ing message is displayed.
For interface 0 to interface 14, Force/Pressure Control Valve Calibration step is launched after Force/Pressure
Control Sensor Configuration step as displayed below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, pressure is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, pressure is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For selection of interface 15 to interface 26, a confirmation dialog for recalibration of interface 1 of selected differ-
ential interface is displayed as shown below:
On Yes Click, Differential Input –Calibrate Interface 1 step is launched after Sensor Configuration step as dis-
played below.
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On increment (+) click, pressure is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, pressure is decremented by percentage value entered in the text box highlighted below
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On Yes Click, Differential Input –Calibrate Interface 2 step is launched after Sensor Configuration step as displayed
below.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, pressure is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, pressure is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
20.4.7.8. Force/Pressure Control Differential Input – Capture Working Range <Differential Inter-
face>
For interface 15 to interface 26, Differential Input – Capture Working Range <Differential Interface> step is launched
after Differential Input – Calibrate <Interface 2> step as displayed below:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Enable Valve Spool Control’ Click, a warning message is displayed as shown below.
On increment (+) click, pressure is incremented by percentage value entered in the text box highlighted below
On decrement (-) click, pressure is decremented by percentage value entered in the text box highlighted below
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Raw signal feedback is displayed only for valve with Analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For DPC, DSC, DFPC selection on Application Configuration step, after Valve Calibration step following command in-
put interfaces are displayed for valve with analog sensor port.
For CANbus command input interface, following command input modes are displayed.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For “7pin Connector pins D and E” input interface, following command input modes are displayed.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For interface selection same as feedback interface selection, a warning is displayed to change the interface selection.
For DPQ selection on Application configuration step, following command input interfaces are displayed for valve with
analog sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For ‘CANbus Command Input DSC-RPDO1 and DFPC – RPDO2’ selection, OD Index -
0x6580 sub index 0x1 takes speed/velocity control setpoint over CANbus Command and OD Index -
0x6500, sub index 0x1 takes force/pressure control setpoint over CANbus Command.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For ‘DSC – Analog Sensor Input 1 and DFPC – Amp Connector +/- 10 V’ selection, 4 to 20 mA from Analog Sensor
Input 1 is used for speed/velocity control and -10 to 10 V from 7 pin Din connector pin D/E is used for force/pressure
control.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For ‘DSC – Analog Sensor Input 1 and DFPC – Amp Connector 0 to 10 V’ selection, 4 to 20 mA from Analog Sensor
Input 1 is used for speed/velocity control and 0 to 10 V from 7 pin Din connector pin D/E is used for force/pressure
control.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For ‘DSC – Analog Sensor Input 1 and DFPC – Amp Connector 4 to 20 mA’ selection, 4 to 20 mA from Analog Sen-
sor Input 1 is used for speed/velocity control and 4 to 20 mA from 7 pin Din connector pin D/E is used for
force/pressure control
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For ‘DSC – Analog Sensor Input 1 and DFPC – Amp Connector +/- 10 mA’ selection, 4 to 20 mA from Analog Sensor
Input 1 is used for speed/velocity control and -10 to 10 mA from 7 pin Din connector pin D/E is used for force/pressure
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For ‘DSC – Analog Sensor Input 1 and DFPC – Amp Connector +/- 15 mA’ selection, 4 to 20 mA from Analog Sensor
Input 1 is used for speed/velocity control and -15 to 15 mA from 7 pin Din connector pin D/E is used for force/pressure
control.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For ‘DSC – Analog Sensor Input 2 and DFPC – Analog Sensor Input 1’ selection, 4 to 20 mA from Analog Sensor In-
put 2 is used for speed/velocity control and 4 to 20 mA from Analog sensor Input 1 is used for force/pressure control.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
For DPQ selection on Application configuration step, following command input interfaces are displayed for valve with
Digital/SSI sensor port.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
If CANbus command is selected and Bus Object 1 (interface 7) or Bus Object 2 (interface 8) is selected for either
Speed/Velocity Control sensor Configuration or Force/Pressure Control Sensor Configuration step, following warning
message is displayed.
For command input other than CANbus command, if same interface is selected on either Speed/Velocity Control Sen-
sor Configuration or Force/Pressure Control Sensor Configuration step, following warning message is displayed. User
must select another command input.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On ‘Finish’ Click, if ‘Close the Wizard and Open the DS408 Graphical Configurator’ is checked, DS408 Graphics will
be launched.
On ‘Finish’ Click, if ‘Close the Wizard and Open the DS408 Graphical Configurator’ is not checked, Tile mode home
screen is displayed.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
20.6. Settings
On Settings click, settings are displayed as below:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
20.7. Diagnostics
On Diagnostics click, diagnostics are displayed as below:
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On Advanced Mode click, tile mode home screen is closed and advanced mode screen is displayed.
On Yes Click, all user settings and configuration are erased and service password is reset to Eaton default.
Warning: To save your settings, Please save your parameters to a DCF file from OD configurator. All user settings are lost on
Factory reset.
21. References
CiA Standard, “CAN Physical Layer for Industrial Applications,” CAN in Automation Draft
Standard 102, Ver 2.0 Apr. 1994.
CiA Standard, “CANopen Application Layer and Communication Profile,” CAN in Auto-
mation Draft Standard 301, Ver 4.2 Dec. 2007.
CiA Standard, “CANopen Electronic Data Sheet Specification,” CAN in Automation Draft
Standard Proposal 306, Ver 1.1 Jun. 2001.
CiA Standard, “Device Profile Fluid Power Technology – Proportional Valves and Hy-
drostatic Transmissions,” CAN in Automation Draft Standard 408, Ver 1.5.2 Jan. 2005.
VDMA Standard, “Profile Fluid Power Technology - Proportional Valves and Hydrostatic
Transmissions,” VDMA Fluid Power Committee, Ver 1.5, Nov. 2001.
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Appendices
The correct sensor interface should be selected and configured to an appropriate type for the device control mode being
used.
Type 2 and 67 may be calibrated by setting the interface minimum, interface maximum, reference minimum, and reference
maximum values to create a point slope form which rescales the input to the desired type.
e.g. If an analog position sensor of a cylinder is connected to the sensor port input 2, which is initially a 4-20mA current in-
put, then to rescale the amperage to units of position, the following setup is required:
Each port can be individually calibrated by using the Actual Value Conditioning block for the valve’s sensor in-
terfaces. The table below lists the objects which need to be accessed to calibrate each sensor. Change the
interface selection object [6201s0] from 10 to 13 then reading raw ADC values [200Ds5 to 8]. Below steps re-
main the same for all ports, with the exception that the interface selection is updated and the raw ADC reading
for pressures changes subindex.
This procedure assumes the default pressures of 0 decibar and 1000 decibar are the calibration rig pressures.
If the rig pressures are measured during calibration to be other than these pressures, the values for min and
max calibration pressures must also be changed. [Drive AVC Pressure Min @ [6220s1]; Drive AVC Pressure
Max @ [6221s1]
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
Start
A
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
If object [621As1] NO B
=1000 decibar? +/-tol
YES
Optional: Commit to EEPROM
End
On-board pressure sensors may also be calibrated by directly accessing the objects per the following table.
These objects do not require the selected interface (object [6201s0]) to be changed.
Pressure Interface Interface Calibration Calibration ADC signal for ADC signal for
sensor type object sign object min pressure max pressure calibration min calibration
pressure max pressure
Pressure A [2160sB] [2161sB] [2162s9] [2163s9] [2166s9] [2167s9]
Pressure T [2160sC] [2161sC] [2162sA] [2163 sA] [2166sA] [2167sA]
Pressure P [2160sD] [2161D] [2162sB] [2163sB] [2166sB] [2167sB]
Pressure B [2160sE] [2161sE] [2162sC] [2163sC] [2166sC] [2167sC]
Table A1-2 Pressure Sensor Calibration Objects
Title: AxisPro™ Industrial Valve
and Pro-FX™: Configure User Manual
On-board pressure sensors may be continuously monitored for out-of-range signals by comparing raw ADC
signal with high and low limits. The range-checking limits must be set to ensure calibrated pressure values are
always within the operating range after tolerances are considered. These limits are meant to lie at the extents
of sensor and hardware conditioning circuit ratings with a 2% margin applied, however wider tolerance may be
required to prevent spurious or intermittent fault triggering. The objects that define the on-board pressure sen-
sor range-checking limits are as follows:
Pressure Object for out-of- Default high limit Object for out-of- Default low limit
sensor range high limit val- (ADC signal) range low limit value (ADC signal)
ue
Pressure A [2004s18] 11805 [2004s1A] 4441
Pressure T [2004s1C] 11805 [2004s1E] 4441
Pressure P [2004s20] 11805 [2004s22] 4441
Pressure B [2004s24] 11805 [2004s26] 4441
Table A1-3 Pressure Sensor Range Objects
Both types require use of the two speed inputs with respect to Table 5-8.
Speed 1 Connect the Phase A signal
Speed 2 Connect the Phase B signal
Also to achieve stable frequency/velocity values, an exponentially weighted filter can be configured [2001s12]. The maxi-
mum value is 9999 which corresponds to 99.99% weighting per the following formula.
New filtered value = (old filtered value * weight) + (new raw value * [1-weight])
Note: With this type of simple filter, there is significant impact on frequency/velocity rise/fall times (limited acceleration) due
to the filter weighting. Choose the smallest filter constant that the application can tolerate.
Calculation:
Resulting Value = Raw ADC value * Gain – Offset
Note: The electronics PCB temperature will experience self-heating by the adjacent electronics circuitry de-
pending on use. The sensor may also experience heating from thermal conduction from the hydraulics and/or
solenoid depending on operation, thus the operating conditions should take this into account as the sensor
should be expected to produce higher than ambient temperature reading inside the electronic enclosure.