BOSCH REXROTH
4WRPDH6C4B24L-2X/M/24ED6T
R901474443
High-Response Directonal Valves
IAC-2X: 4 WRPDH NG 06- Serie 2X
BOSCH REXROTH
MATERIAL: R901474443
SUMMARY: IAC-2X: 4 WRPDH NG 06- Serie 2X
Quantity in stock: 0
Set-up
The directional control valve with IAC Multi Ethernet electronics mainly consists of:
Direct operated directional control valve (1) with control spool and sleeve in servo quality Integrated digital axis controller (2) with: analog/digital interface (XH2) Ethernet interfaces (X7E1, X7E2) analog sensor interfaces (X2M1, X2M2) digital sensor interface (X8M)Directional control valve with integrated axis controller, analog interfaces (X2M1, X2M2), digital interfaces (XH2, X8M) and Ethernet interfaces (X7E1, X7E2)
Functional description
The IAC Multi Ethernet valve (Integrated Axis Controller based on directional control valves) is a digital directional control valve with integrated axis controller and the following functionalities:
Position control Pressure/force control Closed-loop speed control Substitutional closed-loop control (position - pressure/force) Substitutional control (flow - pressure/force) pQ function (flow-controlled)
This enables, amongst others, the following operating modes:
Valve direct control Drive-controlled position control Drive-controlled positioning Positioning block operation The command values are preset via the Ethernet interface (X7E1 or X7E2) or, alternatively, via the analog/digital interface (XH2) The feedback information of the actual value signals to the superior control system is provided optionally either via the Ethernet interface (X7E1 or X7E2) or the analog/digital interface (XH2) The controller parameters are set via the Ethernet interface (X7E1 or X7E2)
Monitoring
The digital control electronics enable comprehensive monitoring functions/error detection including:
Undervoltage Communication error Cable break for analog sensor inputs and digital position measurement system Short-circuit monitoring for analog/digital outputs Monitoring of the microcontroller (watchdog) Temperature of the integrated electronics
IndraWorks DS PC program
To implement the project planning task and to parameterize the IAC Multi Ethernet valves, the user may use the IndraWorks DS engineering tool (see accessories):
Project planning Parameterization Commissioning Diagnosis Comfortable management of all data on a PC PC operating systems: Windows XP (SP3), Windows 7
Safety function
The integrated control electronics of the valve enables the additional shut-off of a channel according to EN 13849-1 in the direction P to A (depending on the application, the fail-safe position must be adhered to).
For this purpose, a suitable control system must be provided to perform the plausibility check between the direction-dependent valve signals "enable input" and "enable acknowledgement" (signal fed back by the valve).
It is not possible to switch off direction P to B in a safety-relevant manner according to EN 13849-1 (depending on valve type).
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01 |
02 |
03 |
04 |
05 |
06 |
07 |
08 |
09 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
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4 |
WRP |
D |
H |
B |
‒ |
2X |
/ |
/ |
24 |
D6 |
* |
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01 |
4 main ports |
4 |
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02 |
High-response directional valves |
WRP |
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03 |
With integrated digital axis controller |
D |
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04 |
Control spool/sleeve |
H |
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05 |
Size 6 |
6 |
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Size 10 |
10 |
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06 |
Symbols; for the possible version, see "Symbols/Circuit diagrams" |
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07 |
Installation side of the inductive position transducer |
B |
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Rated flow at 70 bar valve pressure differential (35 bar/control edge) |
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08 |
Flow characteristic |
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„L" |
"P" (inflection 40 %) |
"P" (inflection 60 %) |
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Size 6 |
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2 l/min |
✔ |
‒ |
‒ |
02 |
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4 l/min |
✔ |
✔ |
‒ |
04 |
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12 l/min |
✔ |
‒ |
‒ |
12 |
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15 l/min |
‒ |
‒ |
✔ |
15 |
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24 l/min |
✔ |
‒ |
‒ |
24 |
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25 l/min |
‒ |
‒ |
✔ |
25 |
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40 l/min |
✔ |
✔ |
‒ |
40 |
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Size 10 |
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50 l/min |
✔ |
✔ |
‒ |
50 |
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100 l/min |
✔ |
✔ |
‒ |
100 |
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Flow characteristic |
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09 |
Linear |
L |
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Inflected characteristic curve (inflection 60 % for NG6 with rated flows "15" and "25", otherwise inflection 40 %) |
P |
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10 |
Component series 20 ... 29 (20 ... 29: unchanged installation and connection dimensions) - Size 6 |
2X |
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Seal material |
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11 |
NBR seals |
M |
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FKM seals |
V |
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Observe compatibility of seals with hydraulic fluid used. (Other seals upon request) |
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12 |
Supply voltage 24 V |
24 |
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Ethernet interface |
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13 |
EtherNet/IP |
E |
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PROFINET RT |
N |
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Sercos |
S |
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EtherCAT (Profil CANopen) |
T |
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POWERLINK (CANopen profile) |
W |
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VARAN |
V |
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Electrical interface |
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14 |
± 10 VDC or 4 ... 20 mA |
D6 |
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Sensor interfaces |
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15 |
0 ... 10 V / 4 ... 20 mA / EnDat 2.2 |
S |
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0 ... 10 V / 4 ... 20 mA / SSI |
T |
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0 ... 10 V / 4 ... 20 mA / 1Vpp |
U |
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16 |
Further details in the plain text |
* |
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For applications outside these parameters, please consult us!
general
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Type |
4WRPDH | ||
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Size |
6 | 10 | |
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Installation position |
Any | ||
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Earth |
kg |
3.2 | 7.2 |
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Storage temperature range |
°C |
+5 … +40 | |
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Ambient temperature range |
°C |
-20 … +60 | |
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Sine test according to DIN EN 60068-2-6 |
10 ... 2000 Hz / maximum 10 g / 10 cycles / 3 axes | ||
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Noise test according to DIN EN 60068-2-64 |
20 ... 2000 Hz / 10 gRMS / 30 g peak / 30 min / 3 axes | ||
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Transport shock according to DIN EN 60068-2-27 |
15 g / 11 ms / 3 axes | ||
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Maximum relative humidity 1) |
% |
95 | |
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Maximum surface temperature |
°C |
150 | |
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MTTFD values according to EN ISO 13849 |
Years |
150 | |
| 1) | No condensation |
hydraulic
|
Type |
4WRPDH | |||
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Size |
6 | 10 | ||
|
Maximum operating pressure |
Port P |
bar |
350 | 315 |
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Port A |
bar |
350 | 315 | |
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Port B |
bar |
350 | 315 | |
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Port T |
bar |
250 | ||
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Maximum flow |
l/min |
100 | ||
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Hydraulic fluid |
see table "Hydraulic fluid" | |||
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Hydraulic fluid temperature range |
°C |
-20 … +60 | ||
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Viscosity range |
Maximum admissible |
mm²/s |
10 … 800 | |
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Recommended |
mm²/s |
20 … 100 | ||
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Maximum admissible degree of contamination of the hydraulic fluid, cleanliness class according to ISO 4406 (c) 1) |
Class 18/16/13 | |||
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Hysteresis |
% |
≤ 0.2 | ||
|
Manufacturing tolerance |
% |
≤ 10 | ||
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Temperature drift |
Zero shift < 0.25 % at Δϑ = 10 K | |||
|
Pressure drift |
Zero shift < 0.15 % at 100 bar | |||
|
Zero point calibration (set in the plant) |
% |
± 1 | ||
| 1) | The cleanliness classes specified for the components must be adhered to in hydraulic systems. Effective filtration prevents faults and simultaneously increases the life cycle of the components. For the selection of the filters, see www.boschrexroth.com/filter. |
hydraulic
|
Nominal flow 1) |
l/min |
2 | 4 | 12 | 15 | 24 | 25 | 40 | 50 | 100 | ||
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Limitation of use |
Symbols C3, C5 |
bar |
350 | 160 | 315 | 160 | ||||||
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Symbols C1, C4 |
bar |
350 | 280 | 250 | 100 | 250 | 100 | |||||
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Leakage flow (at 100 bar) |
Linear characteristic curve “L” |
l/min |
< 150 | < 180 | < 300 | - | < 500 | < 900 | < 1200 | < 1500 | ||
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Inflected characteristic curve "P" |
l/min |
- | < 180 | < 300 | < 450 | < 600 | < 500 | < 600 | ||||
| 1) | With Δp = 35 bar/control edge; flow for deviating Δp see formula. |
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Hydraulic fluid |
Classification |
Suitable sealing materials |
Standards |
Data sheet |
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Mineral oils |
HL, HLP, HLPD, HVLP, HVLPD |
NBR, FKM |
DIN 51524 |
90220 |
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Bio-degradable |
Insoluble in water |
HETG |
NBR, FKM |
ISO 15380 |
90221 |
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HEES |
FKM |
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Soluble in water |
HEPG |
FKM |
ISO 15380 |
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Containing water |
Water-free |
HFDU, HFDR |
FKM |
ISO 12922 |
90222 |
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Containing water |
HFC (Fuchs Hydrotherm 46M, Petrofer Ultra Safe 620 ) |
NBR |
ISO 12922 |
90223 |
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Important information on hydraulic fluids: For more information and data on the use of other hydraulic fluids, please refer to the data sheets above or contact us. There may be limitations regarding the technical valve data (temperature, pressure range, life cycle, maintenance intervals, etc.). The ignition temperature of the hydraulic fluid used must be 40 K higher than the maximum solenoid surface temperature. Flame-resistant – containing water: Maximum pressure differential per control edge 50 bar Pressure pre-loading at the tank port > 20 % of the pressure differential, otherwise increased cavitation Life cycle as compared to operation with mineral oil HL, HLP 50 … 100 % |
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electrical
|
Type |
4WRPDH | |||
|
Size |
6 | 10 | ||
|
Power supply |
Nominal voltage 1) |
VDC |
24 | |
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Lower limit value |
VDC |
18 | ||
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Upper limit value |
VDC |
36 | ||
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Maximum admissible residual ripple 2) |
2.5 Vpp | |||
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Relative duty cycle 3) |
% |
100 | ||
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Current consumption |
Imax 4) |
A |
2.5 | |
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Impulse load |
A |
4 | ||
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Required fuse protection |
A |
4 (time-lag) | ||
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Maximum power consumption |
W |
40 | 60 | |
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Protection class according to DIN EN 60529 |
IP65 (with mating connector mounted and locked) | |||
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AD/DA resolution |
Analog inputs |
bits |
12 | |
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Analog outputs |
bits |
10 | ||
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Protective earthing conductor and screening |
see pin assignment under "Electrical connection" (CE-compliant installation) | |||
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Adjustment |
calibrated in the plant, see "characteristic curves" | |||
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Parameterization interface |
Ethernet | |||
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Scan time pressure and force controller (minimum) |
0.5 ms | |||
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Scan time position controller (minimum) |
1 ms | |||
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Booting time |
< 15 s | |||
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Conformity |
CE according to EMC Directive 2004/108/EC tested according to EN 61000-6-2 and EN 61000-6-3 | |||
| 1) | Supply voltage is used directly for sensor connections X2M1, X2M2 and X8M (no internal voltage limitation). Voltage limit values must be observed directly at the connector of the valve (observe line length and cable cross-section). |
| 2) | Observe the absolute limit values of the supply voltage. |
| 3) | Continuous operation |
| 4) | The maximum current consumption will increase when using the sensor inputs or the switching output according to the external load |
electrical, integrated electronics (OBE)
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Digital inputs XH2 |
Quantity |
optionally up to 2, configurable (analog inputs are no longer required) |
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Low level |
V |
-3 ... +5 |
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High level |
V |
15 ... UB |
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Current consumption at high level |
mA |
< 1 |
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Reference potential |
Pin 5 |
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Digital outputs XH2 |
Quantity |
1 |
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Low level |
V |
0 ... 3 |
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High level |
V |
15 ... UB |
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Current carrying capacity, max. |
A |
1.5 (short-circuit-proof) |
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Signal delay time |
ms |
< 2 (depending on set scan time) |
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Reference potential |
GND |
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Analog inputs XH2 |
Number (current and voltage input parameterizable) |
optionally up to 2, configurable (digital inputs are no longer required) |
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AD resolution |
bit |
12 |
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Voltage inputs (differential inputs) |
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Measurement range |
V |
-10 ... +10 |
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Input resistance |
kΩ |
80 + 10 % |
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Temperature drift |
< 14 mV/10 K |
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Current inputs (reference to AGND) |
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Input current |
mA |
4 ... 20 (0 ... 20 physically) |
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Input resistance |
Ω |
200, measuring resistance plus FET |
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Temperature drift |
< 25 μA/10K |
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Analog outputs XH2 |
Number (current and voltage input parameterizable) |
1 |
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DA resolution |
bit |
14 |
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Voltage outputs |
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Output range |
V |
-10 ... + 10 (0 ... 10 durch Software) |
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Minimum load impedance |
kΩ |
10 |
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Temperature drift |
< 5 mV/10 K |
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Current outputs |
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Output range |
mA |
0 ... 20 (4 … 20 by software) |
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Maximum load |
Ω |
200 |
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Analog sensors X2M1, X2M2 |
Number (current and voltage input parameterizable) |
1 pro Stecker |
|
|
Power supply |
V |
24 (corresponding to supply voltage applied to XH2) |
|
|
Maximum supply current |
350 (total X2M1, X2M2, X8M) |
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AD resolution |
bit |
12 |
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Voltage inputs |
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Measurement range |
V |
0 ... 10 |
|
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Input resistance |
kΩ |
80 +10 % |
|
|
Temperature drift |
< 15 mV/10 K |
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Current inputs (reference to AGND) |
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Input current |
mA |
4 ... 20 (0 ... 20 physically) |
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Input resistance |
Ω |
200, measuring resistance plus PTC |
|
|
Temperature drift |
< 10 μA/10 K |
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Digital sensor X8M |
Power supply |
24 V or 5 V |
|
|
Maximum supply current at - 24 V |
mA |
350 (total X2M1, X2M2, X8M) |
|
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Maximum supply current at - 5 V |
mA |
250 |
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SSI-Aufnehmer |
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Coding |
Gray |
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Data width |
Bit |
12 ... 28 |
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Transfer frequency |
80 kHz ... 1 MHz |
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Line receiver/driver |
RS485 |
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Endat encoder |
2.2 |
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Line receiver/driver |
RS485 |
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Resolution |
minimum 10 nm and multiple |
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1 Vpp encoder |
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Transfer frequency |
kHz |
250 |
|
(measured with HLP46, ϑÖl = 40 ±5 °C)
Size 6
Flow/signal function
Linear characteristic curve “L”
Flow/signal function
Inflected characteristic curve "P", inflection at 40 %
Flow/signal function
Inflected characteristic curve "P", inflection at 60 %
Fail-safe position
NG6
Pressure-signal characteristic curve
Transition function with stepped electric input signals
Frequency response
Size 10
Flow/signal function
Linear characteristic curve "L" (1:1)
Flow/signal function
Linear characteristic curve "L" (2:1)
Flow/signal function
Inflected characteristic curve "P", inflection at 40 % (1:1)
Flow/signal function
Inflected characteristic curve "P", inflection at 40 % (2:1)
Fail-safe position
Size 10
Pressure-signal characteristic curve
Size 10
Transition function with stepped electric input signals
Size 10
Frequency response
Size 10
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With control symbol C1 and C5, the following applies: |
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|
P → A: qvmax |
B → T: qv/2 |
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P → B: qv/2 |
A → T: qvmax |
|
Standard = 1:1, qVnom 2:1 only with rated flow 40 l/min (version "40") |
|
Notice:
Representation according to DIN ISO 1219-1.
Hydraulic interim positions are shown by dashes.
Flow characteristic
|
Symbol |
Linear characteristic curve (version "L") |
Inflected characteristic curve (version "P") |
|
|
Inflection 60 % (qV nom = 15.25 l/min) |
Inflection 40 % |
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|
C3, C5 C4, C1 |
 |
 |
 |
|
C |
 |
- |
- |
Block diagram / pin assignment
Detailed description of the safety function:
After the signal at the enable input has been removed, the output stage, and thus the solenoid of the valve, are internally separated from the available supply voltage. The enable acknowledgment will only be activated after the safe valve spool position has been achieved.
For a detailed description of the safety function, refer to the operating instructions 29391-B.
Connector pin assignment XH2, 11-pole + PE according to EN 175201-804
|
Pin |
Core marking |
Assignment of interface D6 |
|
|
Cable, one-part 1) |
Cable, split 2) |
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|
1 |
1 |
1 |
24 VDC supply voltage |
|
2 |
2 |
2 |
GND |
|
3 |
3 |
white |
Enable input 24 V DC (high ≥ 15 V; low < 2 V) |
|
4 |
4 |
yellow |
Command value 1 (4 ... 20 mA/±10 V) 3) |
|
5 |
5 |
green |
Reference for command values |
|
6 |
6 |
Violet |
Actual value (4 ... 20 mA/±10 V) 3; 4) |
|
7 |
7 |
pink |
Command value 2 (4 ... 20 mA/±10 V) 3) |
|
8 |
8 |
red |
Enable acknowledgement 24 VDC (Imax 50 mA) 5) |
|
9 |
9 |
brown |
not assigned |
|
10 |
10 |
black |
not assigned |
|
11 |
11 |
blue |
Switching output 24 V, configurable (fault-free operation (24 V)/error (0 V) or power circuit signal), maximum 1.5 A 3; 5) |
|
PE |
green-yellow |
green-yellow |
Functional ground (directly connected to the valve housing) |
| 1) | Core marking of the connection lines for mating connector with cable set (see "Accessories", material numbers R901268000, R901272854, R901272852) |
| 2) | Core marking of the connection lines for mating connector with cable set (see "Accessories", material numbers R900884671, R900032356, R900860399) |
| 3) | Selection via commissioning software |
| 4) | For diagnostic purposes, precise actual value response via Ethernet interface |
| 5) | A load increases the current consumption on pin 1 |
Connector pin assignment: M12 x 1, 4-pole, coding D (for Ethernet interface “X7E1” and “X7E2”)
|
Pin |
Assignment |
|
1 |
TxD + |
|
2 |
RxD + |
|
3 |
TxD - |
|
4 |
RxD - |
|
5 |
not assigned |
Analog configurable sensor interfaces, connections "X2M1", "X2M2" (coding A), M12, 5-pole, socket
|
Pin |
Assignment |
|
1 |
+24 V Spannungsausgang (Sensorversorgung) 1, 2) |
|
2 |
Sensorsignal-Eingang Strom (4 ... 20 mA) 3) |
|
3 |
GND |
|
4 |
Sensorsignal-Eingang Spannung (0 ... 10 V) 3) |
|
5 |
negativer Differenzverstärkereingang zu Pin 4 (optional) |
| 1) | Voltage output same as voltage supply connected to input XH2. |
| 2) | A load increases the current consumption of the valve (pin 1 on the connector XH2) |
| 3) | Only one signal input per interface, configurable |
Digital sensor interface SSI, EnDat 2.2 or 1 Vpp measurement system "X8M", M12, 8-pole, socket
|
Pin |
SSI assignment 1) |
EnDat 2.2 assignment 1; 2) |
Assignment 1 Vpp |
|
1 |
GND |
GND |
GND |
|
2 |
+24 V 3) |
+5 V 3) |
+5 V 3) |
|
3 |
Data + |
Data + |
A + |
|
4 |
Data - |
Data - |
A - |
|
5 |
GND |
GND |
B + |
|
6 |
Clock - |
Clock - |
B - |
|
7 |
Clock + |
Clock + |
R + |
|
8 |
+24 V 3) |
+5 V 3) |
R - |
| 1) | Pins 2, 8 and 1, 5 have the same assignment each |
| 2) | Supported resolution ≥ 10 nm |
| 3) | A load increases the current consumption of the valve (pin 1 on the connector XH2) |
Notice:
Reference potential for all signals: GND We recommend connecting the shields on both sides via the mechanical housings of the plug-in connectors.Using connector pins will affect the effectiveness of the shielding effect! Internal screens are not required.
LED display
|
LED |
Interface |
Sercos |
EtherNet/IP |
EtherCAT |
PROFINET |
POWERLINK |
VARAN |
|
1 |
X7E1 |
Activity |
Activity |
not used |
Activity |
not used |
Activity |
|
2 |
Link |
Link |
Link/Activity |
Link |
Link/Data Activity |
Link |
|
|
3 |
Electronic module |
S |
Network Status |
Network Status |
Network Status |
Status/Error |
Network Status |
|
4 |
Module Status |
Module Status |
Module Status |
Module Status |
Module Status |
Module Status |
|
|
5 |
X7E2 |
Activity |
Activity |
not used |
Activity |
not used |
not used |
|
6 |
Link |
Link |
Link/Activity |
Link |
Link/Data Activity |
not used |
Displays of the Status LEDs
|
Module status LED |
Display status |
Network status LED |
Display status |
|
Off |
No voltage supply |
Off |
No voltage supply |
|
Green-red, flashing |
Initialization |
Green |
Operation |
|
Green, flashing |
Drive ready for operation |
||
|
Green |
Drive active |
||
|
Orange, flashing |
Warning |
||
|
Red, flashing |
Error |
||
Notice:
LEDs 1, 2, 5 and 6 relate to interfaces "X7E1" and "X7E2" Link: Cable plugged in, connection established (permanently lit) Activity: Data sent/received (flashing) Module status LEDs 3 and 4 relate to the electronics module For a detailed description of the diagnosis LEDs, please refer to the functional description Rexroth HydraulicDrive HDxSize 6
Dimensions in mm
 |
|
Required surface quality of the valve contact surface |
|
1 |
Valve housing |
|
2 |
Control solenoid with position transducer |
|
3 |
Identical seal rings for ports A, B, P, and T |
|
4 |
Integrated digital control electronics |
|
5 |
Name plate |
|
6 |
Machined valve contact surface; Porting pattern according to ISO 4401-03-02-0-05 |
|
7 |
Space required to remove the mating connector |
Valve mounting screws (separate order)
|
Size |
Quantity |
Hexagon socket head cap screws |
Material number |
|
6 |
4 |
ISO 4762 - M5 x 30 - 10.9-N67F 821 70 (galvanized according to Bosch standard N67F 821 70) Tightening torque MA = 6+2 Nm |
2910151166 |
Size 10
Dimensions in mm
|
|
|
Required surface quality of the valve contact surface |
|
1 |
Valve housing |
|
2 |
Control solenoid with position transducer |
|
3 |
Identical seal rings for ports A, B, P and T (T1) |
|
4 |
Integrated digital control electronics |
|
5 |
Name plate |
|
6 |
Machined valve contact surface; Porting pattern according to ISO 4401-05-04-0-05 |
|
7 |
Space required to remove the mating connector |
Valve mounting screws (separate order)
|
Size |
Quantity |
Hexagon socket head cap screws |
Material number |
|
10 |
4 |
ISO 4762 - M6 x 40 - 10.9-N67F 821 70 (galvanized according to Bosch standard N67F 821 70) Tightening torque MA = 11+3 Nm |
2910151209 |
Notice:
The dimensions are nominal dimensions which are subject to tolerances.
Project planning and maintenance instructions
The supply voltage must be permanently connected, as otherwise bus communication is not possible. If electro-magnetic interference is to be anticipated, suitable measures must be taken to ensure the function (depending on the application, e.g. shielding, filtration). The devices have been tested in the plant and are supplied with default settings. Only complete devices can be repaired. Repaired devices are returned with default settings. User-specific settings will not be applied. The machine end-user will have to retransfer the corresponding user parameters.Protective cap
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Protective cap |
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R901075563 |
Mating connectors for valves with round connector, 11-pole + PE
12P N11
Mating connectors for valves with round connector, 11-pole + PE
12P N11
For valves with round connector according to EN 175201-804, 11-pole + PEData sheet
Spare parts & repair