Electronic Control Unit RC
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1 Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics Electronic Control Unit RC RE 900/.0 /6 Replaces: 09.0 Series 0 For open and closed-loop control of hydraulic components Contents Ordering Code Description Block Circuit Diagram Technical Data... Terminal Connections Terminal Connection Versions 9 Unit Dimensions 0... Installation Position, Mating Connector Settings and Displays, Test Adapter Safety Concept Features Robust design meeting specifications for mobile applications High electromagnetic compatibility (EMC) Inputs and outputs with fault detection Safety features such as redundant inputs and central safety cut-off for all outputs Pulse-width-modulated (PWM) solenoid currents for minimum hysteresis Closed-loop control of solenoid currents, i.e. not dependent on voltage and temperature Sturdy, sealed aluminum housing Watertight with suitable mating connector Main components Powerful 6-bit microcontroller module Protected watchdog for program run monitoring Serial data interface for diagnostics, parameterization and display of process variables CAN bus interface Power supply and ground connections for potentiometers and sensors
2 /6 Bosch Rexroth AG Mobile Hydraulics RC RE 9 00/.0 Ordering Code RC / 0 Type Electronic control unit RC Design. digit = no. of proportional outputs -. digit = no. of switch outputs Series Index 0 Note: The electronic control units cannot operate without software. Standard software and programs for specific applications are available from Rexroth. Description The RC electronic control units are used for the programmable control of proportional solenoids and additional switching functions. They can therefore be used for both simple and complex open and closed-loop control, e.g. for hydrostatic travel drives, work hydraulics or transmission control in mobile machinery. RC electronic control units were specially developed for use in mobile machinery, and satisfy the relevant safety requirements with regard to ambient temperature, tightness, resistance to shock and vibration, as well as electromagnetic compatibility (EMC). Internally, RC electronic control units comprise a powerful 6- bit microcontroller and all input and output circuitry on a single circuit board. Analog voltages in the range 0... V, currents from ma, frequencies from 0 Hz...0 khz and switching information are processed as input signals. The inputs are protected against overvoltage and electrical interference. The voltage inputs can be monitored to detect any broken wires or short circuits. The proportional solenoid outputs are pulse-width-modulated (PWM) and optimally adapted for proportional electrical control of axial piston units and valves to ensure high accuracy and minimum hysteresis. The switch outputs are designed for the direct switching of relays, lamps and switch solenoids. The serial interface RS permits the connection either of the BB- control panel (RE and RE 9 080) or a laptop with BODEM software for personal computers (RE 9 08) for service functions such as diagnostics, parameterization or display of process variables. CAN bus interfaces are available with all RC electronic control units for exchanging data with other bus users or electronic systems (e.g. MC or RC electronic control units, joysticks, diesel engine injection, display). The CAN bus interfaces can each be run with different protocols. Standard programs are available for the electronic control unit software. If more extensive functions are required, special program packages for specific applications can also be compiled using a program library and adapted to the application in question with the aid of service tools. Programming with BODAS (RE 9 0) is also possible. Combined with pumps, motors, valves, sensors, transducers and actuators from Rexroth, RC electronic control units and corresponding software can be used to create complete system solutions.
3 RE 9 00/.0 RC Mobile Hydraulics Bosch Rexroth AG /6 Block Circuit Diagram Enable ) output stages Power supply, output stages + - Watchdog & Central safety cut-off Power supply for + electronic circuits - Ignition lock + Power supply unit Switch-on pulse Inputs Power for electronic circuits 6-bit microcontroller Flash EPROM EEPROM RAM Power outputs PWM output Digital output Proportional solenoid outputs ) Switch outputs ) Frequencies ) Analog voltage ) Analog current ) Switching information ) Flash programming Frequency Voltage Current Evaluation of switches Flash evaluation Counter input A/D converter 0-bit Digital inputs Electronic control unit for outputs Interface controller LED red / green ) Signal outputs Enable output stages External ECU Interface driver Interface driver Enable output stages External electronic control unit Analog voltage output Serial interface RS CAN bus interface ) ) )The inputs and outputs are partially mutually isolated by the technical circuitry. ) In the RC-/0 only ) Not in the RC-/0
4 /6 Bosch Rexroth AG Mobile Hydraulics RC RE 9 00/.0 Technical Data RC- RC- RC6-9 Nominal voltage and V Residual ripple (DIN 089, Part ) max. ± V Supply voltage, permitted range 8... V Current consumption without load ma with load, max. A 8 8 Fuse internal: external: for switch and proportional solenoid outputs A T 8 0 for electronics and sensors A T Stabilized voltage source e.g. for setpoint potentiometer - kω V ± 0. V with current monitoring: ma with voltage monitoring: 0 ma 00 ma Analog voltage inputs (may also be used as switch input) ) 0... V 8 Analog current inputs (may also be used as switch input) ) ma Switch inputs 6 8 (may be used as analog voltage input) 6 8 High active only low <. V; high >. V Switch between high/low active 6 Frequency inputs (may also be used as switch input) ) khz; > V rms Proportional solenoid outputs (PWM) 6 Current range A 0... A Pulse frequency Hz 00, 60 or 0 Hz 6 Switch outputs (MOSFET) 9 max.. A 6 max. A max..6 A Analog voltage outputs 0... V Interfaces RS C CAN.0 B ISO 898 LED indicators red / green Fault detection for broken wires and short circuit Analog inputs Proportional solenoid outputs Protection against short circuit to supply voltage and ground for all inputs and outputs Reverse polarity protection supply/battery ) switched with supply voltage
5 RE 9 00/.0 RC Mobile Hydraulics Bosch Rexroth AG /6 Technical Data Microcontroller RC- RC- RC6-9 C6CI C67CS C67CS Clock frequency MHz Memory capacities RAM Kbytes Flash EPROM Kbytes 6 EEPROM Kbytes 8 8 Software installation Download to flash memory Electromagnetic compatibility Spurious interference 00 V rms /m; (details on request) (motor vehicles directive 9//EG) Line-bound interference Values on request (ISO 767-/-/-) Load dump max. 70 V Max. dissipated loss W at V Operating temperature, housing C Storage temperature, housing C Vibration resistance: Sinusoidal vibration 0 g / Hz (IEC ) 0 cycles per axis Random vibration 0.0 g / Hz (IEC ) 0 min per axis Shock resistance: Transport shock g / ms (IEC ) x in each direction (pos./neg.) and in each axis Continuous shock g / 6 ms (IEC ) 000x in each direction (pos./neg.) and in each axis Resistance to moisture 9 % (+ C to + C) Resistance to salt spray (IEC ) 7 h, C, % NaCl Type of protection (DIN / EN 609) with fitted mating connector IP 6, with supplementary measures IP 69K Housing material Diecast aluminum Weight approx. kg Outer dimensions Length (in mm) 8 8 Width (in mm) Height (in mm) Mating connector -pin 8-pin
6 6/6 Bosch Rexroth AG Mobile Hydraulics RC RE 9 00/.0 Terminal Connections RC- A ) Emergency OFF Ignition lock 8A + V/+ V Outputs ON A 7 Power supply for electronics Supply for prop. and switch outputs 0 V Ground 8 Speed sensor Frequency inputs Proportional outputs 0 ) ). A. A Proportional solenoids Stabilized voltage source V x ma Switch outputs 9 ) ).0 A.0 A Switch outputs 6 +V ) Potentiometer V ) Voltage inputs Current source ma Current inputs TxD RS RxD Reserved 0 7 C D B E A G F H Diagnostic connector for BB- or BODEM Switches Switch inputs CAN H CAN L 0 9 CAN bus ) ) Short, low-resistance connection from a housing screw to the unit or vehicle ground ) Separate ground connection from solenoid return lead to battery (chassis also possible) ) Separate fuses recommended for switches and sensors ) CAN bus: terminating resistor 0 Ω recommended (see installation instructions in RDE ) ) Alternatively, V/ground outputs may also be used to supply the sensors Ground connection, housing )
7 RE 9 00/.0 RC Mobile Hydraulics Bosch Rexroth AG 7/6 Terminal Connections RC- A ) Emergency OFF 0 V Ground A + V/+ V Speed sensor Potentiometer Ignition lock Outputs ON A V ) +V ) Power supply for electronics Supply for prop. and switch outputs Voltage inputs Frequency inputs Stabilized voltage source V / x00 ma Proportional outputs Switch outputs ) ) ) ) ) ) ) ),A,A,A,A,6A,6A,A,A Proportional solenoids Switch outputs Current source ma Switches Enable external output stages INH OE 7) 6) 6) Current inputs Switch inputs 0 V... V 7 TxD RS RxD 0 Reserved CAN H CAN L CAN H CAN L CAN bus interfaces ) ) Analog signal output 0 V... V DC C D B E A H G F Diagnostic connector for BB- or BODEM ) Short, low-resistance connection from a housing screw to the unit or vehicle ground ) Separate ground connection from solenoid return lead to battery (chassis also possible) ) Separate fuses recommended for switches and sensors ) CAN bus: terminating resistor 0 Ω recommended (see installation instructions in RDE ) ) Alternatively, V/ground outputs may also be used to supply the sensors 6) Switched together between high/low active by means of software 7) Level >V enable output stages (proportional and switch outputs) Switched together between high/low active by means of software
8 8/6 Bosch Rexroth AG Mobile Hydraulics RC RE 9 00/.0 Terminal Connections RC6-9 A ) Emergency OFF 0A + V/+ V 0 V Ground Speed sensor Potentiometer Ignition lock Outputs ON A V ) +V ) +V ) +V ) Power supply for electronics Supply for prop. and switch outputs Voltage inputs Voltage inputs Frequency inputs Stabilized voltage source V / x00 ma Stabilized voltage source V / x0 ma Proportional outputs Switch outputs ) ) ) ) ) ) ) ) ) ) ) ) ) ) ,A,A,A,A,8A,8A,6A,6A,A,A,6A,A,A,A Proportional solenoids Switch outputs Current source ma Switches Enable external output stages INH OE 7) 6) 6) Current inputs Switch inputs 0 V... V TxD 0 RS RxD CAN H CAN L CAN H CAN L Reserved Reserved ) 9,A ) Analog signal output 0 V... V DC CAN bus interfaces ) C D B E A H G F Diagnostic connector for BB- or BODEM ) Short, low-resistance connection from a housing screw to the unit or vehicle ground ) Separate ground connection from solenoid return lead to battery (chassis also possible) ) Separate fuses recommended for switches and sensors ) CAN bus: terminating resistor 0 Ω recommended (see installation instructions in RDE ) ) Alternatively, V/ground outputs may also be used to supply the sensors 6) Switched together between high/low active by means of software 7) Level >V enable output stages (proportional and switch outputs) Switched together between high/low active by means of software
9 RE 9 00/.0 RC Mobile Hydraulics Bosch Rexroth AG 9/6 Terminal Connection Versions (other versions on request) Monitored potentiometers If all three connecting points of the potentiometer are to be monitored for broken wires, the potentiometer must be connected as illustrated in the section of the terminal connection diagram below. The existing current inputs are used for this purpose. Monitored potentiometer... kω Sensor supply ) Voltage input ) Current input ) Internal pull-down resistance
10 0/6 Bosch Rexroth AG Mobile Hydraulics RC RE 9 00/.0 Unit Dimensions RC- 0 max. ) max. 7, ) c 7 d max. 7 0, 0 ) LED a 7, , max. 96 max. b Mounting: The electronic control unit must be secured at four points (a, b, c, and d). Tightening torque M A = 8 ± Nm for securing the electronic control units with M6 screws. Tightening torque applies for screws without washer. The equivalent tightening torque must be determined when using washers. Rexroth s consent is required if mounting is different from above. Note: If the mounting surface is not sufficiently even, place flexible compensating elements (e.g. rubber washers) between the mounting points of the electronic control unit and the mounting surface. ) Space required for mating connector ) Space required for plugging and unplugging the mating connector
11 RE 9 00/.0 RC Mobile Hydraulics Bosch Rexroth AG /6 Unit Dimensions RC max. ) max. 6, c 6,8 d 0 ) 88 0 ) 9, a 9 0, 9 7 max. 8,8 b Mounting: The electronic control unit must be secured at four points (a, b, c, and d). Tightening torque M A = 8 ± Nm for securing the electronic control units with M6 screws. Tightening torque applies for screws without washer. The equivalent tightening torque must be determined when using washers. Rexroth s consent is required if mounting is different from above. ) Space required for mating connector ) Space required for plugging and unplugging the mating connector
12 /6 Bosch Rexroth AG Mobile Hydraulics RC RE 9 00/.0 Unit Dimensions RC6-9 9 max. ) max. 6, c 6,8 d 0 ) , ) 9, a 9 0, 9 7 max. 8,8 b Mounting: The electronic control unit must be secured at four points (a, b, c, and d). Tightening torque M A = 8 ± Nm for securing the electronic control units with M6 screws. Tightening torque applies for screws without washer. The equivalent tightening torque must be determined when using washers. Rexroth s consent is required if mounting is different from above. ) Space required for mating connector ) Space required for plugging and unplugging the mating connector
13 RE 9 00/.0 RC Mobile Hydraulics Bosch Rexroth AG /6 Installation Position -0 Permitted Visible range of LED s 70 Not permitted Installation position Mating Connector Order designations for female connector, comprising: Number for AMP-Tyco MT/JPT -pin 8-pin Designation AMP No. ID No. 060 ID No. 060 Junior-Power-Timer contacts Single-wire seals JPT Micro-Timer- contacts Single-wire seals MT Basic unit MT/JPT; -pin Basic unit MT/JPT; 8-pin Cover Cover 0-9- Blanking plugs F.D.6-MT The female connector is not included in the delivery volume. The AMP-Tyco MT/JPT -pin female connector is available from Rexroth with Mat. No. 060 and the AMP-Tyco MT/JPT 8-pin female connector with Mat. No. 060.
14 /6 Bosch Rexroth AG Mobile Hydraulics RC RE 9 00/.0 Settings and Displays All settings and the display of functions, faults and system variables are performed using the BB- control panel (RE 9798 and RE 9080) or a PC with BODEM software (RE 908) via the serial interface. Test Adapter The MA test adapter (RE 9090) is used to measure all electrical signals at the inputs, outputs and interfaces of the electronic control unit. It is connected in series between the electronic control unit and the vehicle or unit wiring. The BB- control panel, BODEM software and MA test adapter are all available from Rexroth.
15 RE 9 00/.0 RC Mobile Hydraulics Bosch Rexroth AG /6 Safety Concept Safety features in the electronic control unit The input circuits for speed and analog signals partially feature circuits that are mutually electrically isolated. The switch signals are electrically separated into mutually independent groups (see block circuit diagram). The microcontroller can detect faults by means of duplicate (redundant) input function assignments. Broken wires or short circuits at potentiometers can be detected by circuit logic. (See circuit version: Monitored potentiometers) Faults in the power supply are detected by internal monitoring. All output signals can be monitored by the microcontroller with the appropriate software. The power outputs are supplied by separate connections independently of the electronics. For service purposes, the electronic control units can be operated with all power outputs de-energized. The internal watchdog module centrally cuts off all proportional and switch outputs in the event of disturbances to the program execution. Safety measures during use of the electronic control unit (See also safety instructions in RDE ) Faults can be detected and specially programmed safety functions activated by means of duplicated input variable assignments (e.g. connection of the drive pedal signal to two independent analog inputs). Special safety functions can be initiated if the plausibility check reveals discrepancies between the setpoints and the values read back by the microcontroller. Note: The suggested circuits do not imply any technical liability of Rexroth for the system. The safety instructions contained in RDE must be observed. To switch off the system in emergencies, the power supply to the electronics must be disconnected by an emergency stop switch. The emergency stop switch must be installed in an easily accessible position for the operator. Safe braking must be ensured when the emergency stop function is activated. Cables to speed sensors must be shielded. The shield must be connected to the electronics on one side or to the machine or vehicle ground via a low-resistance connection. Cables to the electronics must not be routed close to other power-conducting cables in the machine or vehicle. A sufficiently large distance to radio systems must be maintained. All connectors must be unplugged from the electronics during electrical welding operations. The electronics may only be tested with the proportional solenoids connected. The proportional solenoids must not be connected to spark suppression diodes. Switching solenoids at the outputs of the RC electronics need not be connected to spark suppression diodes. Other inductive loads that are in the system but not connected to the RC must be connected to spark suppression diodes. In order to preserve the warranty, any installation or replacement of the software (flash EPROM) must be performed by personnel from Rexroth. Cables/wires must be sealed individually to prevent water from entering the unit.
16 6/6 Bosch Rexroth AG Mobile Hydraulics RC RE 9 00/.0 Bosch Rexroth AG Mobile Hydraulics Product Unit Mobile Electronics Elchingen Plant Glockeraustrasse 897 Elchingen, Germany Telephone +9 (0) Facsimile +9 (0) info.brm-ak@boschrexroth.de 00 by Bosch Rexroth AG, Mobile Hydraulics, 897 Elchingen All rights reserved. Neither this document nor any part of it may be reproduced or stored, processed, duplicated of circulated e. g. by using electronic systems in any form or by any means without the prior authorisation of Bosch Rexroth AG. In case of infringements the infringing party will be obliged to compensate for all damages incurred. The data specified in this brochure (data sheet) is intended to describe the products. No warranty or statement, whether express or implied with regard to fitness for particular purposes or merchantability may be derived from our information (data sheet). The information provided in this brochure (data sheet) does not release the user from any of its obligations of own judgement and verification for the specific purposes. Please note that our products are subject to a natural process of wear and tear and aging.
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