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9-AM651-A
DENISON HYDRAULICS
VENUS Controller
020-14103
Internet: http://www.denisonhydraulics.com
Email: denison@denisonhydraulics.com
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TYPICAL CHARACTERISTICS
The Absolute Maximum ratings
are for reference only. Operating
this device in these regions may
cause this unit to fail.
INPUTS
OUTPUTS
Pulse Width Modulation (PWM) with
current feedback and short circuit
protection.
Miscellaneous
Specifications Nominal Absolute Maximum
Power Supply 12-24VDC 34VDC
@ 0.2 Amps + coil current
Local Command Set Digitally -100% - +100%
Main input Commands 10VDC 50VDC
5VDC 50VDC
0-20mA 30mA DC
4-20mA +30mA DC
Auxiliary Input Command 5VDC 50VDC
Analog Feedback Inputs 10VDC 50VDC
5VDC 50VDC
0-20mA 30mA DC
4-20mA +30mA DC
Horsepower Limiting Inputs 0-1Amp AC 2 Amps AC continuous
4-20mA DC +30mA DC
0-10V DC 50VDC
Differential Encoder Inputs 5VDC 15VDC
Single Ended Encoder Inputs 5VDC 25VDC
Magnetic Pickup 97mVAC RMS 70VAC RMS
Proximity Probe 5VDC 25VDC
Digital Feedback
Frequency Range 21 - 100,000Hz
Emergency Stop 12 - 24VDC 50VDC
Reverse CMD 12 - 24VDC 50VDC
Soft Stop 12 - 24VDC 50VDC
Ramp 1 / Ramp 2 12 - 24VDC 50VDC
Main / Aux Command 12 - 24VDC 50VDC
Output Driver Current Ranges 0.5ADC 6.0ADC
1.0ADC 6.0ADC
1.5ADC 6.0ADC
3.0ADC 6.0ADC
PWM Frequency Ranges 100Hz
140Hz
200Hz
2000Hz
Encoder Excitation 5VDC 30mADC
Potentiometer Excitation +5VDC 10mADC
-5VDC 10mADC
Ramp 1 & Ramp 2
Set with Terminal S20-14125 0-90 Seconds
Set with PC Program S20-14131 0-300 Seconds
Soft Stop
Activated ramp rate 0-60 Seconds
De-activated ramp rate 0-60 Seconds
Operating Temperature 0
o
to 70
o
C
User Interface RS232 9 pin Female
D type connector
DIN RAIL Mounting 35mm x 7.5mm
35mm x 15mm
Dimensions, in. (mm) 4.33 (110) H
5.82 (149) W
2.85 (75) D
DATA
2 Revised
Note: New revisions are shown underlined.
Pages are marked revised where changes have been made.
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NOTICE:
The chassis GND, terminal 24, is
connected to the internal shield
and must be connected to an
Earth / Safety Ground for proper
device shielding.
The Emergency Stop input, termi-
nal 27, must be connected to
12-24VDC to allow Venus outputs
to function.
Terminals 27 and 32 are isolated
and require a Ground (GND)
reference to operate properly.
This drawing shows the circuit
configuration.
The output terminals are config-
ured such that with a positive input
command Coil A will be energized.
MINIMUM HARDWARE REQUIREMENTS
COIL A
37
38
COIL B
36
35
24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
12-24VDC
POWER
MOTOR
+A -A +B -B
9A
STROKER
+V -V
CHASSIS
GND
EMERGENCY STOP
J1
ISOLATED GND
JUMPER
GETTING STARTED
3
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INSTALLATION GUIDELINES
4 Revised
ALWAYS
NEVER
WHEREVER POSSIBLE
G Read this data sheet completely BEFORE starting.
G Mount this controller and any electronic control device in an electrically conductive
metal enclosure.
G Connect the enclosure to an ELECTRICALLY CLEAN Earth Ground with a mini-
mum wire size of 12 gauge.
G Keep High Voltage AC power lines seperate from Low Voltage DC control signals,
current loops, feedback signals (voltage, current and frequency types) and supply
cables.
G Use shielded cable for all control signals, feedback signals and coil ouputs.
G Connect all shields to the enclosure for proper termination and leave the other end
of the shield unconnected.
G Connect terminal #24 on the controller to the enclosure for proper grounding.
G Check all connections to and from the controller to ensure correct connections and
tightness of the terminals.
G Ensure that the supply voltage is correct, ELECTRICALLY CLEAN and stable.
G Contact DENISON Hydraulics if unsure of installation.
G Never attempt to use this unit if you are unsure of the connections or expected
operation.
G Never use a power supply that is marginal or under rated for the current require-
ments of the coil being driven.
G Never use this unit in areas of intense RF radiation without adequate shielding pre-
cautions.
G Leave this unit powered and use the Emergency Stop or Soft Stop inputs to turn
off the outputs when the hydraulic system is not powered.
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PROGRAMMING METHODS
5 Revised
The controller can communicate to the
user by two different methods.
METHOD 1
METHOD 2
G286 - based computer (with 640K RAM).
If running Windows 3.1 (with 4M RAM)
If running Microsoft Windows 95
G486 or Pentium - based computer
(with minimum 16M RAM).
GVGA or SuperVGA
Configuration Data Storage
The Venus Controller requires configuration before the unit will function properly.
System parameters must be programmed by the user to configure the controller to the
application.
Method 1: The hand held terminal, S20-14125, will prompt the user through a menu
system to setup Venus. No other programming tools are required. Refer to page 15
for operating instructions.
Method 2: A PC computer interface using the S20-14131 Interface program, VDOS,
and a portable computer. The S20-14131 program is DOS based and is compatable
with Windows 3.x and Windows 95.
There are several benefits to using this method.
1. The control parameters can be entered and stored on disk, even when not connect-
ed to the Venus Controller.
2. Multiple setup files can be saved to disk.
3. The configuration can be retrieved from Venus for backup purposes.
4. The same setup file can be used for multiple Venus installations.
With the VGRAPH program, the input command, feedback signal and error can be dis-
played on the computer screen similar to that of a strip chart recorder. As the system
performance is being displayed in real time, the tuning variables of Proportional Gain
(Kp), Integrating Gain (Ki) and Integrating Rate (KIT) can be dynamically adjusted to
get the optimum system performance.
All configuration data is stored in a non-volatile memory card inside Venus. If the con-
troller fails and needs to be replaced, the memory card can be removed from the
defective unit and inserted into the replacement unit configuring the new one exactly
as the old.
DENISON Hydraulics
S20-14131
PC Interface
Software
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POWER SUPPLY
REQUIREMENTS
Inputs
Digital Inputs
Emergency stop
Main input / Auxiliary input select
Ramp 1 / Ramp 2 select
Soft stop
Reverse Command
Horse Power (HP) Limiting
The Venus controller requires 12-24VDC to operate, the current requirements are
determined by the type of actuator that is connected to Venus. The following list
shows the current requirements of the DENISON Hydraulics actuators.
9A Pump stroker 12V 12VDC at 1.5 AMPS Minimum
9A Pump stroker 24V 24VDC at 1.0 AMPS Minimum
F5C Flow control valve 24VDC at 1.5 AMPS Minimum
VP01 Pressure control valve 24VDC at 1.5 AMPS Minimum
4RP01 Pressure control valve 12V 12VDC at 1.5 AMPS Minimum
4RP01 Pressure control valve 24V 24VDC at 1.0 AMPS Minimum
3DP03 Open loop 24V 24VDC at 2.0 AMPS Minimum
3DP06 Open loop 12V 12VDC at 3.0 AMPS Minimum
3DP06 Open loop 24V 24VDC at 2.0 AMPS Minimum
4DP01 Open loop 12V 12VDC at 3.0 AMPS Minimum
4DP01 Open loop 24V 24VDC at 2.0 AMPS Minimum
4DP02 Open loop 12V 12VDC at 3.0 AMPS Minimum
NOTICE: 12V coils MUST be powered by a 12V power supply. Using a 24 Volts for
12V coils may result in an over current shut down which may cause the power supply
output to brown out and reset Venus.
Input commands can be voltages, current loops or potentiometers. Multiple inputs are
permitted and are selected by the Main / Auxiliary input. The input command can also
be programmed internally as a LOCAL COMMAND set digitally using the S20-14125
hand held terminal or with a PC computer using the S20-14131 program..
Feedback devices can be incremental optical encodes, passive and active magnetic
pickups, DC tachometers, DC voltages or current loops, hydraulic flow meters, poten-
tiometers, pressure, load and torque transducers, and current transformers for horse
power limiting.
(12-24VDC Isolated Inputs with isolated GND on terminal 32)
Voltage must be applied to this input to enable the controllers output.
Connecting a voltage to terminal 28 will cause the controller to accept the input com-
mand from the Auxiliary input instead of the Main input.
Ramp 1 is the default selection, applying a voltage to terminal 29 will select Ramp 2.
This option is used to set the output to zero at the rate set by the Soft Stop Time. This
option can be enabled or disabled through the system configuration. When enabled,
terminal 30 must be energized to allow the system outputs to function. De-energizing
terminal 30 will engage the soft stop function. When disabled, terminal 30 may be left
unconnected.
Connecting a voltage will cause the controller to reverse the input command, i.e. with
+5VDC input command and coil A output energized the new input will become -5VDC
when reverse command is asserted and energize coil B output .
Venus can sense Horse Power in 1 of 2 ways.
1) Measure the electric motor current.
2) Anti-stall - measure the prime movers output shaft speed, i.e. diesel engine.
1) Electric Motor horsepower and electric motor current are directly related. HP is
measured using a current transformer which is rated as a ratio of input current to
output signal, i.e. 125:1, 125:20mA or 125:10VDC meaning that for an input cur-
rent of 125 AmpsAC the transformer output will be 1 AmpAC, 20mADC or 10VDC.
The output of the current transformer is fed into the Venus controller and com-
pared to the adjustable limit. When the measured HP exceeds the pre-set limit the
controller will de-stroke the pump as a function of the HP Limit gain.
2) The prime movers shaft speed, typically a diesel engine, is measured as a fre-
quency and compared with the adjustable limit, as the HP requirements increase
the prime movers RPM decreases. When the shaft speed drops below the limit,
Venus will de-stroke the pump as a function of the HP Limit gain. Venus has only
1 frequency input, the user must decide which function it will serve, the system
feedback or the HP limit.
DATA
6
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Ramp Generators
Outputs
High Level Outputs
Venus has two independently adjustable ramps. Ramp 1, when selected (default
ramp), has adjustable up and down ramp times of 0.1 to 90 seconds. Ramp 1 up and
ramp 1 down can be enabled or disabled independently, also
Ramp 2, when selected (12 to 24VDC applied to terminal 29) has its own up and down
ramp time adjustments of 0.1 to 90 seconds and ramp 2 up and ramp 2 down can be
independently enabled or disabled.
NOTE: Using the S20-14131 PC interface program the Ramp 1 and Ramp 2 times are
0.1 to 300 seconds.
Each ramp can be configured in one of two different types of ramp models as shown
below.
The Venus controller has three outputs, one high current (coil A & coil B), one low volt-
age and one low current.
The high current output stage is a two channel PWM driver with current feedback for
precise control of the current through the coil regardless of changes in coil resistance.
Both channels are protected against short circuits across the coil and to ground.
The following is a list of DENISONs hydraulic actuators that Venus can control directly.
Choosing one of the following selections using the S20-14125 terminal or the S20-
14131 PC software will automatically configure the controller for the maximum current
and PWM frequency required by the device.
9A Pump stroker 12V or 24V
F5C Flow control valve
VP01 Pressure control valve
4RP01 Pressure control valve
3DP03 Proportional directional valve (open loop) 12V or 24V
3DP06 Proportional directional valve (open loop) 12V or 24V
4DP01 Proportional directional valve (open loop) 12V or 24V
4DP02 Proportional directional valve (open loop) 12V or 24V
If the actuator you are using is not in the above list, the output stage can be configured
per the following lists below.
Maximum Output Current
0.5Amps DC
1.0Amps DC
1.5Amps DC
3.0Amps DC
PWM Frequency
100Hz
120Hz
200Hz
2000Hz
TYPE: RAMP UP FROM ZERO
RAMP UP
RAMP DN
+100%
-100%
0%
RAMP DN
RAMP UP RAMP UP
TYPE: RAMP UP (+) SLOPE
RAMP UP
RAMP DN
+100%
-100%
0%
RAMP UP
INPUT
COMMAND
RAMP
OUTPUT
INPUT
COMMAND
RAMP
OUTPUT
DATA
7
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Absolute Minimum coil
resistance
Low Level Outputs
I MINIMUM
(+I MINIMUM & -I MINIMUM)
I MAXIMUM
(+I MAXIMUM & -I MAXIMUM)
Status Codes
Coils with ohmic values below the following list will cause an over current shut down of
the high current output driver.
4.4 Ohms minimum for a 24VDC Supply.
2.2 Ohms minimum for a 12VDC Supply.
Note:The over current shut down threshold is 6 Amps. If the power supply is rated
below this value and a short circuit condition exists the power supply may brown
out, meaning that the output voltage from the power supply may drop below the
minimum voltage required to power Venus. This will cause Venus to reset.
The low voltage output is a 5VDC analog output that can be configured in one of the
following three modes.
Mode 1: Feedback echo - 5VDC for -100% to +100% feedback signal as measured
by the feedback device.
Mode 2: Input command echo - 5VDC for -100% to +100% input command.
Mode 3: Controller output - 5VDC for -100% to +100% controller output to other high
current drivers.
Note: Mode 3 disables the high current PWM outputs.
The low current output is a 0-20mA or 4-20mA (user configurable) output representa-
tion of the 0-5VDC signal from the analog output. This is a unipolar output.
The output stage is designed to provide a step in output current that will move the
pump stroker or valve through its dead band when the input command exceeds 2.5%.
Each output channel has its own I minimum adjustment. When put in the I minimum
setup mode, the controller ignores the input command and presets the internal com-
mand to exceed the 2.5% threshold and sets the I maximum (gain) to zero. This con-
figuration will allow the adjustment of I minimum without the influence of any I maxi-
mum (gain).
For proper closed loop operation the controller must be calibrated to the feedback sig-
nal. This is done by first adjusting the (+)I minimum setting which may cause the
feedback signal to be non-zero. The controller must be commanded to read the feed-
back offset, this will result in a displayed feedback of zero as the feedback offset is
subtracted from the actual feedback signal being read.
The I maximum adjustment allows the controller to set the output current to the stro
ker or valve that will yield maximum hydraulic output required by the overall system.
Again for proper closed loop operation the controller must be calibrated to the feed-
back signal at full system output. After setting the (+)I minimum, set the command
input to 100% or its highest value and adjust (+)I maximum for maximum system out-
put. The controller must be commanded to read the feedback signal which will equate
the input command to the feedback signal to produce zero error.
The following is a list of status codes that Venus will display on the front panel RED
LED marked STATUS.
1
st
Blink 2
nd
Blink Status Code Definitions
1 1 Emergency Stop Active
1 2 Soft Stop Active
1 3 Horse Power Limit Active
1 4 Coil A Short Circuit
1 5 Coil A Open Circuit
2 1 Coil B Short Circuit
2 2 Coil B Open Circuit
2 3 Loss of Closed Loop Control
2 4 Feedback Wrong Polarity
2 5 Auxiliary Command Active
3 1 Ramp 2 Active
3 2 Reverse Command Active
The status codes will clear automatically when the indicated condition is
corrected or is no longer active.
DATA
8 Revised
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21
1
GND
+10VDC
10 VDC
Input Command
(+)
(-)
20
1
GND
+5VDC
5 VDC
Input Command
(+)
(-) 19
mA Return
18
mA Input (+)
(-)
0 - 20mA
Source
19
mA Return
18
mA Input (+)
(-)
+4 - 20 mA
Source
45
46
M
(+)
(-)
1 AMP AC
5VDC Input Command 0-20mA DC Input Command
10VDC Input Command 4-20mA DC Input Command
0-10VDC HP Limit Input
4-20mA DC HP Limit Input
0-1Amp AC HP Limit Input
24 24
24 24
1
23
M
(+)
(-)
0-10VDC
24
45
44
M
(+)
(-)
4-20mA DC
24
5
1
GND
-5VDC REF
6
20
+5VDC REF
5VDC Input
(Optional Center Tap)
5K to 10K
Potentiometer
Potentiometer Input Command
24
5
1
GND
-5VDC REF
6
22
+5VDC REF
5VDC
Aux Input
5K to 10K
Local
Potentiometer
(Optional Center Tap)
19
mA Return
18
mA Input
Remote
4 - 20 mA
or
0 - 20mA
Source
(+)
(-)
24
+12 - 24VDC
Close Switch for
Auxiliary Command
Local and Remote Input Commands
28
INPUT COMMAND WIRING DIAGRAMS
9
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11
10
7
1
GND
+5VDC
CHANNEL +A
14
13
CHANNEL -A
CHANNEL -B
CHANNEL +B
15
12
7
1
GND
+5VDC
CHANNEL A
CHANNEL B
5VDC Feedback
0-20mA DC Feedback 10VDC Feedback
4-20mA DC Feedback
Quadrature Encoder Feedback
Magnetic Pickup Feedback
Differential Quadrature Encoder
Feedback
8
1
GND
+5VDC
5 VDC
Feedback
(+)
(-)
24
3
mA Return
4
mA Input (+)
(-)
0 - 20mA
Feedback
24
9
1
GND
+10VDC
10 VDC
Feedback
(+)
(-)
24
3
mA Return
4
mA Input (+)
(-)
+4 - 20 mA
Feedback
24
OPTICAL
ENCODER
24
OPTICAL
ENCODER
24
Proximity Probe Feedback
GND
+5VDC
CHANNEL A
Install Jumper
to
Reverse RPM Polarity
1
7
12
15
1
24
+5VDC
CHANNEL A
Install Jumper
to
Reverse RPM Polarity
7
12
15
1
24
FEEDBACK WIRING DIAGRAMS
10
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42
43
0-20mA OR
4-20mA
PROCESS
INDICATOR
12 - 24VDC
POWER
SUPPLY
(+)
(-)
1
41
5VDC
PROCESS
INDICATOR
(+)
(-)
0-20mA OR 4-20mA
OUTPUT
5VDC ANALOG
OUTPUT
ANALOG OUTPUT WIRING DIAGRAMS
(+) (-)
2
3
5
2
3
5
9 Pin Female
9 Pin Male
2
3
7
2
3
5
25 Pin Female 9 Pin Male
PC Interface
Wiring Diagrams
Description
Signal ground
Signal ground
mA return feedback
mA input feedback
-5 VDC Reference voltage
+5 VDC Reference voltage
+5 VDC Encoder excitation
5 VDC feedback
10 VDC feedback
+ Differential Encoder input Channel A
- Differential Encoder input Channel A
Single ended encoder Channel A
+ Differential Encoder input Channel B
- Differential Encoder input Channel B
Single ended encoder Channel B
Magnetic pickup
Magnetic pickup
mA return command
mA input command
5 VDC input command
10 VDC input command
5 VDC auxiliary command
0 - 10 VDC HP limit input
TB #
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
Description
Earth Ground
Power Ground
+ Power Supply
Emergency Stop
Main / Auxiliary
Ramp 1 / Ramp 2 input
Soft Stop Command input
Reverse Command input
Isolated ground
Signal ground
N / C
Coil B return
Coil B output
Coil A output
Coil A return
N / C
Signal ground
0 - 5VDC output
4 - 20 mA return
4 - 20 mA output
4-20 mA DC HP limit input
HP limit signal return
1.0 Amp AC HP limit input
TB #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
Terminal Block Definitions
RS232 Connector Definitions
Pin # Discription
1 No Connect
2 TxD (RS232 Transmit)
3 RxD (RS232 Receive)
4 No Connect
5 Signal Ground
6 No Connect
7 No Connect
8 No Connect
9 +5VDC(Terminal Power)
DATA
11 Revised
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BLOCK DIAGRAM
12 Revised
Back to Content
The diagram below shows how the open loop and Proportional / Integral (PI) closed
loop signal paths work together to form the complete closed loop control system.
The output of the Proportional block is the system error multiplied by KP. KP is the
Proportional gain and is user adjustable.
The output of the Integrator block is the mathematical integration of system error multi-
plied by KI. KI is the Integrator gain and is user adjustable. The rate at which it
integrates is controlled by the KIT variable. larger KIT values produces a slower
integrator and is user adjustable.
When in open loop mode the output of the proportional block is forced to zero and the
integrator reset switch is activated forcing it to zero. The final output is the open loop
signal which consists of the input command plus the I minimum and I maximum set-
tings in the high current PWM driver.
Setting the controller in closed loop mode de-activates the integrator reset allowing it
to integrate the system error and multiplying it by the KI variable. This value is
summed with the output of the proportional block and the open loop signal described
above.
The CP variable (controller percentage) adjusts the amount of influence the PI section
has over the system response. CP sets the control authority which limits the amount
of error correction the PI section will contribute to the final controller output. The CP
range is 1 to 100%.
Venus has a built in safety feature that will put the controller in open loop mode if the
system error exceeds the ME variable (maximum error) for a time longer then the MET
variable (maximum error timer).
ME is entered as a percent of maximum error with a range of 1% to 100%. MET has
a range of 0 to 30 seconds. If the AR variable (automatic restart) is on, set to a value
of 1, then Venus will put the controller back in closed loop mode after the ART (auto-
matic restart timer) has passed.
AR has a range of 0 to 1 with 0 being off and 1 being on. ART has a range of 0 to
3600 seconds.
CONTROLLER OPERATION
SETTING CLOSED LOOP CONTROL VARIABLES
13 Revised
(+)
(-)
(+)
(-)
SYSTEM
ERROR
ERROR KP
*
*
KI

ERROR
(+)
(+)
CONTROL
NIT
0.5AMP
MAXIMUM
CURRENT
(+)
OPEN /
CLOSED
LOOP
INTEGRATOR
RESET
CONTROLLER
OUTPUT
ECHO
PROPORTIONAL
BLOCK
INTEGRATOR
BLOCK
OPEN LOOP SIGNAL
Back to Content
STATUS CODE
11 - EMERGENCY STOP
12 - SOFT STOP
13 - HP LIMIT ACTIVE
14 - COIL A SHORT CIRCUIT
21 - COIL B SHORT CIRCUIT
15 - COIL A OPEN CIRCUIT
22 - COIL B OPEN CIRCUIT
23 - LOSS OF CLOSED LOOP
CONTROL
24 - FEEDBACK WRONG
POLARITY
POSSIBLE SOLUTIONS
To dis-engage Emergency stop
1. Apply +12 to +24VDC to terminal #27.
2. Verify that terminal #33 is connected to the same ground that is used for
terminal #27.
To dis-engage Soft stop
1. If Soft stop is not used then disable through system configuration.
2. If Soft stop is used then apply +12 to +24VDC to terminal #30.
3. Verify that terminal #33 is connected to the same ground that is used for
terminal #27.
If Soft stop is not engaging, check the Soft stop enable through system configuration.
If HP limiting is not required at all, select HP limit type to be off in the system configu-
ration.
If the HP limiter is active when it is not supposed to be then check that the correct
sensor is selected in the system configuration, verify that the HP limit setpoint is cor-
rect.
1. Check the wiring for a short circuit condition on coil A or coil B.
2. Verify that the coil resistance is not too low.
3. Verify that the supply voltage is not too high for the coil resistance.
1. Verify that the wiring of the coils is correct.
2. Verify that the coil resistance is not too high.
3. Verify that the supply voltage is not too low for the coil resistance.
This condition means that for whatever reason Venus can not control the feedback sig-
nal within the set parameters.
1. Reset the I minimum and I maximum and re-calibrate the feedback.
2. Increase the CP (controller percentage) variable to allow the controller to have
enough head room to control the feedback.
3. Increase the ME (maximum error) variable.
4. Increase the MET (maximum error timer) variable.
1. If feedback is a single channel digital signal then place a jumper from terminal #15
to terminal #2.
2. If the jumper is already installed then remove jumper.
3. If feedback is a dual channel digital signal then change channel A with channel B.
4. If feedback is an analog signal then reverse the 2 wires.
TROUBLE SHOOTING GUIDE
14
Back to Content
The Venus Controller requires
configuration before the unit will
function properly. System parame-
ters must be programmed by the
user to configure the controller to
the application.
The hand held terminal,
S20-14125, will prompt the user
through a menu system to setup
Venus. No other programming
tools are required.
To begin type SETUP then press
the ENTER key.
S20-14125 Hand Held Programming
Terminal
(Optional, Sold separately).
The Output Type, Input Command
and the Feedback Type are the
minimum settings that must be
configured before the unit can run
properly.
INPUT COMMAND MENU
1>MAIN INPUT COMMAND
2>AUX INPUT COMMAND
INPUT COMMAND MENU
1>LOCAL
2>VOLT
3>AMP
LOCAL COMMAND SETUP
1>0-100%
2>0-100%
1>0-5V
2>5V
3>0-10V
4>10V
1>4-20MA
2>0-20MA
3>20MA
AUXILIARY COMMAND
1>OFF
2>0-5V
3>5V
FEEDBACK MENU
1>PULSE
2>VOLT
3>AMP
4>UNIT
ENTER PULSES
PER REV
1>0-5V
2>5V
3>0-10V
4>10V
1>4-20MA
2>0-20MA
3>20MA
1>RPM
2>PSI
3>GPM
4>LPM
5>USER DEFINED
ENTER 3
LETTERS FOR
USER DEFINED
UNITS
OUTPUT MENU
1>PUMPS
2>VALVES
3>ANALOG OUT
4>OTHER
PUMP MENU
1>900 STROKER
2>P SERIES E
3>WORLD CUP E
VALVE MENU
1>FLOW
2>PRESSURE
3>DIRECTIONAL
FLOW CONTROL
1>F5C
PRESSURE VALVE
1>S303 12VDC
2>VP01
3>4RP01
DIRECTIONAL
1>3DP03 OPEN LOOP
2>3DP06 OPEN LOOP
3>4DP01 OPEN LOOP
4>4DP02 OPEN LOOP
1>12V
2>24V
ANALOG OUT MENU
1>ECHO FEEDBACK
2>ECHO INPUT COMMAND
3>CONTROLLER OUTPUT
OTHER MENU
USER DEFINED OUTPUT
1>MAX I OUT
2>PWM FREQUENCY
MAX I OUT
1>0.5AMPS
2>1.0AMPS
3>1.5AMPS
4>3.0AMPS
PWM FREQ
1>100Hz
2>140Hz
3>200Hz
4>2000Hz
900 STROKER MENU
1>24V
2>12V
SETUP
S20-14125 PROGRAMMING TERMINAL
15
Back to Content
INITIAL SETUP
+I MINIMUM (COIL A)
+I MAXIMUM (COIL A)
-I MINIMUM (COIL B)
-I MAXIMUM (COIL B)
HORSE POWER (HP) LIMITING
RAMPS
MANUAL CONTROL
CLOSED LOOP CONTROLLER
ADJUSTMENTS
Press CTRL F5 together to setup the 020-14103 Venus controller.
Figure 2 on page 17 is the system setup diagram. Follow the menu prompts to config-
ure the controller to the type of hydraulics device you are connecting to.
After the controller has been configured the following set-up procedure must be fol-
lowed to ensure proper operation.
Press Shift F1 together. Use table 1 to adjust the minimum output current such that
the dead band of the hydraulic actuator is removed. After setting +I Minimum press
CTRL F1 to calibrate the controller for zero feedback. Press Shift esc to exit.
Press Shift F2 together. Use table 2 to set the maximum hydraulic output that the sys-
tem requires for +maximum command. After the system stabilizes press CTRL F2 to
calibrate the feedback span. The system is now calibrated to your hydraulic system.
Press Shift esc to exit.
If the system is bi-directional do the following.
Press Shift F3 together. Use table 3 to adjust the minimum output current such that
the dead band of the hydraulic actuator is removed. Press Shift esc to exit.
Press Shift F4 together. Use table 4 to set the maximum hydraulic output that the sys-
tem requires for -maximum command. Press Shift esc to exit.
Use Table 5 for HP Limiting setup definitions.
Use table 6 to set ramp 1 time.
Use table 7 to set ramp 2 time.
Use table 8 for Manual Control
The controller must be tuned for stable, non-oscillating control. Table 9 shows the
function key definitions. The controller must be adjusted or tuned to match the charac-
teristics of the hydraulic system. Adjusting Ki (integrator variable) and Kp (proportional
variable) will allow the user to fine tune Venus for accurate, stable control. The KIT
variable controls the speed (rate of integration) of Ki, where Ki controls the integrator
gain.
DATA
16 Revised
Back to Content
17 Revised
For complete system configuration press together
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CTRL F5
Back to Content
At the Denison Prompt the following Function key definitions are in effect.
Function-Key Definition
F1 Diagnostic Display
F2 Normal data display
F3
F4
F5
SHIFT F1 I MIN A Table 1
SHIFT F2 I MAX A Table 2
SHIFT F3 I MIN B Table 3
SHIFT F4 I MAX B Table 4
SHIFT F5 HP Limit Table 5
SHIFT E EMERGENCY STOP
CTRL F1 Ramp 1 Table 6
CTRL F2 Ramp 2 Table 7
CTRL F3 Set Manual Control Mode On Table 8
CTRL F4 Control Parameters Table 9
CTRL F5 System Setup
SHIFT F1 I MIN A Menu
Function-Key Definition
F1 Increase I MIN A (Course adjustment)
F2 Increase I MIN A (Fine adjustment)
F3 Decrease I MIN A (Course adjustment)
F4 Decrease I MIN A (fine adjustment)
F5
SHIFT F1
SHIFT F2
SHIFT F3
SHIFT F4
SHIFT F5
SHIFT E EMERGENCY STOP
CTRL F1 Set feedback zero (0)
CTRL F2
CTRL F3
CTRL F4
CTRL F5
ESC EXIT
SHIFT F2 I MAX A Menu
Function-Key Definition
F1 Increase I MAX A (Course adjustment)
F2 Increase I MAX A (Fine adjustment)
F3 Decrease I MAX A (Course adjustment)
F4 Decrease I MAX A (fine adjustment)
F5 Set manual command to zero (0)
SHIFT F1 Increase manual command (Course adjustment)
SHIFT F2 Increase manual command (Fine adjustment)
SHIFT F3 Decrease manual command (Course adjustment)
SHIFT F4 Decrease manual command (Fine adjustment)
SHIFT F5 Set manual command to (+) 100%
SHIFT E EMERGENCY STOP
CTRL F1
CTRL F2 Set feedback to full scale
CTRL F3 Set manual control mode on
CTRL F4 Set manual control mode off
CTRL F5 Set manual command to (-) 100%
ESC EXIT
DENISON>
TABLE 1
TABLE 2
DATA
18
Back to Content
SHIFT F3 I MIN B Menu
Function Definition
F1 Increase I MIN B (Course adjustment)
F2 Increase I MIN B (Fine adjustment)
F3 Decrease I MIN B (Course adjustment)
F4 Decrease I MIN B (fine adjustment)
F5
SHIFT F1
SHIFT F2
SHIFT F3
SHIFT F4
SHIFT F5
SHIFT E EMERGENCY STOP
CTRL F1
CTRL F2
CTRL F3
CTRL F4
CTRL F5
ESC EXIT
SHIFT F4 I MAX B Menu
Function-Key Definition
F1 Increase I MAX B (Course adjustment)
F2 Increase I MAX B (Fine adjustment)
F3 Decrease I MAX B (Course adjustment)
F4 Decrease I MAX B (fine adjustment)
F5 Set manual command to zero (0)
SHIFT F1 Increase manual command (Course adjustment)
SHIFT F2 Increase manual command (Fine adjustment)
SHIFT F3 Decrease manual command (Course adjustment)
SHIFT F4 Decrease manual command (Fine adjustment)
SHIFT F5 Set manual command to (+) 100%
SHIFT E EMERGENCY STOP
CTRL F1
CTRL F2
CTRL F3 Set manual control mode on
CTRL F4 Set manual control mode off
CTRL F5 Set manual command to (-) 100%
ESC EXIT
SHIFT F5 HP LIMIT Menu
Function-Key Definition
F1 Increase gain (Course adjustment)
F2 Increase gain (Fine adjustment)
F3 Set HP LIMIT trip point
F4
F5 Set manual command to zero (0)
SHIFT F1 Increase manual command (Course adjustment)
SHIFT F2 Increase manual command (Fine adjustment)
SHIFT F3 Decrease manual command (Course adjustment)
SHIFT F4 Decrease manual command (Fine adjustment)
SHIFT F5 Set manual command to (+) 100%
SHIFT E EMERGENCY STOP
CTRL F1 Decrease gain (Course adjustment)
CTRL F2 Decrease gain (Fine adjustment)
CTRL F3 Begin manual control
CTRL F4 End manual control
CTRL F5 Set manual command to (-) 100%
ESC EXIT
TABLE 3
TABLE 4
TABLE 5
DATA
19
Back to Content
CTRL F1 Ramp 1 Menu
Function-Key Definition
F1 Enter ramp up time
F2 Enter ramp down time
F3 Ramp up on / off
F4 Ramp down on / off
F5 Set manual command to zero (0)
SHIFT F1 Increase manual command (Course adjustment)
SHIFT F2 Increase manual command (Fine adjustment)
SHIFT F3 Decrease manual command (Course adjustment)
SHIFT F4 Decrease manual command (Fine adjustment)
SHIFT F5 Set manual command to (+) 100%
SHIFT E EMERGENCY STOP
CTRL F1
CTRL F2
CTRL F3 Set manual control mode on
CTRL F4 Set manual control mode off
CTRL F5 Set manual command to (-) 100%
ESC EXIT
CTRL F2 Ramp 2 Menu
Function-Key Definition
F1 Enter ramp up time
F2 Enter ramp down time
F3 Ramp up on / off
F4 Ramp down on / off
F5 Set manual command to zero (0)
SHIFT F1 Increase manual command (Course adjustment)
SHIFT F2 Increase manual command (Fine adjustment)
SHIFT F3 Decrease manual command (Course adjustment)
SHIFT F4 Decrease manual command (Fine adjustment)
SHIFT F5 Set manual command to (+) 100%
SHIFT E EMERGENCY STOP
CTRL F1
CTRL F2
CTRL F3 Set manual control mode on
CTRL F4 Set manual control mode off
CTRL F5 Set manual command to (-) 100%
ESC EXIT
CTRL F3 Manual Control Menu
Function-Key Definition
F1
F2
F3
F4
F5 Set manual command to zero (0)
SHIFT F1 Increase manual command (Course adjustment)
SHIFT F2 Increase manual command (Fine adjustment)
SHIFT F3 Decrease manual command (Course adjustment)
SHIFT F4 Decrease manual command (Fine adjustment)
SHIFT F5 Set manual command to (+) 100%
SHIFT E EMERGENCY STOP
CTRL F1
CTRL F2
CTRL F3
CTRL F4
CTRL F5 Set manual command to (-) 100%
ESC EXIT
TABLE 6
TABLE 7
TABLE 8
DATA
20
Back to Content
TABLE 9 CTRL F4 Control Parameters Menu
Function-Key Definition
F1 Enter Ki data (Integrator gain)
F2 Enter Kp data (Propotional gain)
F3 Enter KiT data (Integrator time constant, rate of integration)
F4
F5 Set manual command to zero (0)
SHIFT F1 Increase manual command (Course adjustment)
SHIFT F2 Increase manual command (Fine adjustment)
SHIFT F3 Decrease manual command (Course adjustment)
SHIFT F4 Decrease manual command (Fine adjustment)
SHIFT F5 Set manual command to (+) 100%
SHIFT E EMERGENCY STOP
CTRL F1
CTRL F2
CTRL F3 Set manual control mode on
CTRL F4 Set manual control mode off
CTRL F5 Set manual command to (-) 100%
ESC EXIT
DATA
21
Back to Content
SUPPLIMENTAL COMMANDS
AZ
AZ=n
CP
CP=n
MA
MA=n
ME, MET & MED
ME=n
MET=n
MED=n
AR
AR=n
ART=n
CFE
CFE=n
The following are commands that the menu structure does not support. These are
system level commands that allow low lever configuration. Entering the variables only
will display their current value, entering the variable with an equal sign will change the
value. i.e. AZ=10.
Analog output zero. This is the analog output offset adjustment value. This command
will return the numeric value of the current level of offset with zero being no offset.
Sets an offset value where n is a positive integer with a range of 0 to 50.
The CP variable (controller percentage) adjusts the amount of influence the PI section
has over the system response. CP sets the control authority which limits the amount
of error correction the PI section will contribute to the final controller output.
Sets the control authority value where n is a positive integer with a range of 0 to 100.
Milliamp output type. This determines whether the low level current output is 0-20mA
or 4-20mA. This command will return the current output type.
Sets the Milliamp output type where n is 0 = 0-20mA, and 4 = 4-20mA.
Venus has a built in safety feature that will put the controller in open loop mode if the
system error exceeds the ME variable (maximum error) for a time longer then the MET
variable (maximum error timer). MED is the maximum error detection enable variable.
ME is entered as a percent of maximum error with a range of 1% to 100% where
n=1 to 100.
MET has a range of 0 to 30 seconds, n=0 to 30.
MED has a range of 0 to 1 with 0 being off and 1 being on.
If the AR variable (automatic restart) is on, set to a value of 1, then Venus will put the
controller back in closed loop mode after the ART (automatic restart timer) time has
passed.
AR has a range of 0 to 1 with 0 being off and 1 being on.
ART has a range of 0 to 3600 seconds.
If the CFE variable (current fault enable) is on, set to a value of 1, then Venus will
monitor the high current outputs for open / short circuit conditions. If an output is short
circuited then Venus will turn off that output, flash the Status light and wait for approxi-
mately 10 seconds and try the output again. If the output is open circuited then Venus
will flash the Status light only no other action will be taken.
CFE has a range of 0 to 1 with 0 being off and 1 being on.
DATA
22
Back to Content
NOTES
23
Back to Content
SALES & SERVICE WORLDWIDE
International Distributors
In Europe:
Cyprus
Eastern Europe
The Faroe Islands
Finland
Greece
Iceland
Norway
Portugal
Switzerland
Turkey
In Africa:
Algeria
Egypt
Ivory Coast
Morocco
Nigeria
South Africa
Togo
Tunisia
In Middle East:
Iran
Israel
Lebanon
Pakistan
Qatar
Saudi Arabia
Syria
United Arab Emirates
In Far East:
Indonesia
Korea
Malaysia
New Zealand
Philippines
Thailand
Australia
DENISON HYDRAULICS Pty. Ltd.
41-43 St. Hillers Road
P.O. Box 192
Auburn, N.S.W. 2144
Australia
Tel. (612) 9646 5200
Fax (612) 9643 1305
Other sales offices:
Queensland
South Wantirna Victoria
Western Australia
Austria
DENISON HYDRAULIK GmbH
Zweigniederlassung Linz
Haidbachstrae 69
A-4061 Pasching
Austria
Tel. (43) 7229 4887
Fax (43) 7229 63092
Benelux
DENISON HYDRAULICS
BENELUX B. V.
Pascalstraat 100
3316 Dordrecht
Holland
Tel. (31) 786179 900
Fax (31) 786175 755
Canada
DENISON HYDRAULICS
CANADA Inc.
2320 Bristol Circle, Unit 1
Oakville, ON L6H 5S2
Canada
Tel. (905) 829 5800
Fax (905) 829 5805
Other sales offices:
Montreal, QC
Calgary, AB
Denmark
DENISON HYDRAULIK
DENMARK A/S
Industrikrogen 2
DK-2635 Ishj
Denmark
Tel. (45) 4371 15 00
Fax (45) 4371 15 16
Finland
DENISON HYDRAULICS
P.O. Box 36
FIN-08101 Lohja
Finland
Tel. (358) 208 33 045
Fax (358) 207 33 045
France
DENISON HYDRAULICS
FRANCE SA
14, route du Bois Blanc
BP 539
18105 Vierzon
France
Tel. (33) 2 48 53 01 20
Fax (33) 2 48 75 02 91
Other sales offices:
Bordeaux
Lyon
Paris
Germany
DENISON HYDRAULIK GmbH
Herderstrasse 26
D-40721 Hilden
Germany
Tel. (49) 2103 940-6
Fax (49) 2103 940-880
Other sales offices:
Dresden
Hanover
Stuttgart
Great Britain
DENISON HYDRAULICS U.K.
Ltd.
Kenmore Road
Wakefield 41, Industrial Estate
Wakefield, WF20XE
West Yorkshire
England
Tel. (44) 19 24 826 021
Fax (44) 19 24 826 146
Other sales offices:
Burgess Hill
Hong Kong
DENISON HYDRAULICS Ltd.
Unit 3, 25/F Wharf Cable Tower
9 Hoi Shing Road
Tsuen Wan
N.T., Hong Kong
Tel. (852) 24988381
Fax (852) 24991522
Italy
DENISON HYDRAULICS S.r.l.
Viale Europa 68
20090 Cusago
Milano
Italy
Tel. (39) 2 90330 1
Fax (39) 2 90390 695
Japan
DENISON JAPAN Inc.
4-2-1 Tsujido-Shinmachi
Fujisawa 251,
Japan
Tel. (81) 466 35 3257
Fax (81) 466 35 2029
Other sales office:
Osaka
Mexico, Central America, South
America and Caribbean
Countries Contact
DENISON HYDRAULICS Inc.
6167 NW 181 Terrace Circle North
Miami, FL 33015
USA
Tel. (305) 362 2246
Fax (305) 362 6220
P.R. China
DENISON HYDRAULICS Ltd.
3F, No. 1, Mao Jia Zhai, Bai Lian Jing
Pudong New Area,
Shanghai 200126, China
Tel. (86) 21 5886 8991
Fax (86) 21 5886 1978
Singapore
DENISON HYDRAULICS S.E.A. Pte.
Ltd.
No. 11 Lorong Tukang Dua
Singapore 2261
Tel. (65) 2687840
Fax (65) 2687847
Spain
DENISON HYDRAULICS, S.A.
Gomis, 1
08023 Barcelona
Spain
Tel. (34) 3418 46 87
Fax (34) 3211 65 07
Other sales offices:
San Sebastian
Sweden
DENISON HYDRAULICS
SVENSKA AB
Sporregatan 13
213 77 - Malm
Sweden
Tel. (46) 40 21 04 40
Fax (46) 40 21 47 26
Other sales offices:
Spnga
Taiwan
DENISON HYDRAULICS Ltd.
6F-10, No. 79, Sec. 2, Roosevelt road,
Taipei, Taiwan, R.O.C.
Tel. (886) 2 3645101 / 3645102
Fax (886) 2 3639025
USA
DENISON HYDRAULICS Inc.
14249 Industrial Parkway
Marysville, OH 43040
USA
Tel. 937 644 3915
Fax 937 642 3738
For nearest Distributor:
Call toll free 1 800 551 5956
E-Mail address:
denison@denisonhydraulics.com
WWW address:
http://www.denisonhydraulics.com
Other sales offices:
Fulton, CA
Mulberry, FL
Moline, IL
Rock Island, IL
Kentwood, MI
Portland, OR
Memphis, TN
Arlington, TX
Houston, TX
Other European, Middle East
and African Countries Contact
DENISON HYDRAULICS
FRANCE SA
14, route du Bois Blanc
BP 539
18105 Vierzon Cedex
France
Tel. (33) 2 48 53 01 44
Fax (33) 2 48 53 01 46
Your local DENISON representative
Internet: http://www.denisonhydraulics.com
Email: denison@denisonhydraulics.com
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