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SPECIFICATIONS

Power Supply (N121-132A only)


Input Voltage:
105 Vac to 130 Vac, 50 Hz to 60 Hz
or
210 Vac to 250 Vac, 50 Hz to 60 Hz
Power Consumption:
50 VA
Power Available:
E: 550 mA @ 15 Vdc regulated
E
r
: 100 mA @ 10 Vdc regulated
V: 500 mA @ 15 to 22 Vdc
unregulated
Note:Total load on three supplies
cannot exceed 650 mA with 100mA
current drain.
Regulation:
Load Regulation: E
5 mV, 0 to 150 mA
Load Regulation: E
r
50 mV, 0 to full load
Line Regulation
3 mV, 105 to 130 Vac
Ripple
3 mV peak to peak
Temperature Stability
130 ppm/C
Adjustability Range:
+E (R59) +14 to +16 volts
E (R60) 14 to 16 volts
+Er (R61) +9.5 to +10.5 volts
Er (R62) 9.5 to 10.5 volts
N121-132A Servocontroller
N122-142A Servoamplifier
D5
R29
R28
R69
R66
R67
P
2
F1
2
9
2
8
2
7
2
6
2
5
P
3
C A U T I O N
L I N E V O L T A G E
P R E S E N T
F2
T1
C
1
3
C
1
2
B
R
1
1
R71
A
6
C
1
5
R70
R
6
1
R
6
2
C
2
1
C
2
2
1
5

1
6

1
7

1
8

1
9

2
0

2
1

2
2

2
3

2
4
-1
0
V
A
D
J
+
1
0
V
A
D
J
A
7
C
1
7
R72
A
9
R65
R64
R63
R66
R
5
9
R
6
0
C
1
4+
1
5
V
A
D
J
-
1
5
V
A
D
J
C
1
6
A
8
+E +Er -E -Er TP19
Q
2
Q
1
M
A
D
E

IN

U
S
A
R27
R31
R47
R30
R23
R33
R2
R22
D4
R1
C3
R20
R21
R46
R45
R41
R40
R39
R25
R26
C5
R24
R32
JMPR5
C6
K
1
C
S
1
JMPR4
JMPR3
JMPR2
JMPR1
B
IA
S
C
3
D
6
+
C
U
R
L
IM
IT
R
3
4
R
1
6
O
N
O
F
F
R55
R54
R52
R50
R18
D3
C9
G
A
IN
-
2
R
4
3
A
2
R42
R44
R37
R38
R36 R53
R51
C
1
1
D2
D1
C
7
R35
R10
R7
R8
R5
R6
R12
R14
R3
A
1
C
8
R49 R48
C
1
0
P
1
R
9
S
C
A
L
E
A
3
IN
T
G
G
A
IN
C
4
R
5
7
R
5
6
R
5
8
R
4
G
A
IN
-
1
D
E
R
V
G
A
IN
L
P
F
C
U
T
O
F
F
1


2

3
4
5


6

7
8

9

1
0





1
1

1
2

1
3



1
4
VR3 TP9 VSUM2 VCL ISV VI VD VP VSUM1 TP11
The N121-132A Snap Trac Card contains a complete DC servo amp
together with a DC power supply consisting of an AC to DC rectifier and
voltage regulators.The servo amp is designed to drive a servo valve with
DC current having high dynamic response and negligible drift.
The N121-132A Snap Trac Servocontroller contains all the features of the
N122-142A Servocontroller, with the addition of a built-in power supply. It is
a forward compatible replacement for both the 121A132 and 121B132.
The N122-142A Snap Trac Servoamplifier is designed to drive servovalves or
proportional valves in open-loop or closed-loop servo systems. It provides
any combination of proportional, integral, and derivative control (PID) and
requires an external regulated power source. The N122-142A is a forward
compatible replacement for both the 122A142 and 122B142.
SPECIFICATIONS
Servoamplifier
Proportional Gain:
10 to 210 mA/V
Integral Gain:
10 to 5000 mA/V-s
Derivative Gain:
0.01 to 3 mA-s/V
Input Levels:
15 Vdc (10 Vdc nominal)
on terminals 1, 2, 6 & 7
120 Vdc on terminal 3
Voltage Drive to Valve:
10 Vdc nominal
Current Drive to Valve:
120 mAdc maximum*
Drift:
0.15 mV/C with:
100k inputs, gain 5 mA/V
Temperature Range:
-20C to 50C (-4F to 122F)
Frequency Response:
0 dB, 45 phase lag @ 1250 Hz
with load of 0.4 Henries
Linearity:
3% full scale
Relay Ratings:
consumption: 15 mA @ 24 Vdc
* Dependent on resistance of servovalve coil, R
coil
I
max
= 11v / [(R27 + 20) + R
coil
]
R28, 29 = 4v / Irated (Q1, Q2 collector supply)
DIMENSIONS
Model N122-142A: 3.25 in x 7.50 in
Model N121-132A: 3.25 in x 14.00 in
Maximum Component Height:
2.42 in (both)
Construction
Plug-in signal connectors for quick
installation of board.
Test points on all critical signals for
easy system setup and test.
Component standoffs on all user-
configurable components.
Twenty-turn potentiometers for all
adjustable controls.
Rugged construction with solder
mask for reliability.
PID Control
Jumper-selectable proportional,
integral, and derivative control.
Independent PID gain adjust.
Adjustable low-pass filter on
derivative control.
Integrator reset function activated
by external signal.
Error-Summing Input Stage
Three standard inputs can be
re-configured for differential input.
Independently adjustable gain, scale,
and bias potentiometers.
Easily accessible test point at
summed error signal for
monitoring.
Current Drive Stage
Compatible with all Moog
servovalves.
Jumper-selectable voltage drive
configuration for proportional
valves.
Short-circuit (momentary)
overcurrent protection.
Adjustable current limiting to
restrict maximum valve flow.
SPDT Relay Section
Jumper-selectable HI (5 - 15 Vdc)
or LOW (0 Vdc) activation logic
state.
May be used for integrator reset,
signal switching, or other functions.
Auxiliary Error Summing/Signal
Processing Section
Two standard inputs can be
re-configured for differential
input.
User-configurable signal frequency
compensation, inverter, or buffer
possible.
Independent gain control allows
scaling of external signals.
Inner-Loop Inputs
Proportional input for control of
inner-loop, such as 3rd stage spool
control.
Second input can be used for Feed-
Forward or Dynamic Pressure
Feedback.
Built-in Regulated Power Supply
(N121-132A only)
Four independently adjustable
regulated outputs and two
unregulated outputs.
Industry standard regulators
bolster overload current
protection.
Plug-in connector for powering
external devices or other Snap Trac
modules.
Reference voltage output for load
cell or other strain gauge
transducer excitation.
Power fuses protected by snap-on
plastic covers for personal safety.
FEATURES ADJUSTMENTS
Servoamplifier
R4 GAIN-1 Changes gain of error-summing input stage
if Proportional Jumper is on. Turn CW to increase gain.
Adjust for closed-loop system stability. Provides 1:21 gain
range.
R9 SCALE Changes authority of signal on terminal 3.
Turn CW to increase authority. Adjust to provide scaling
of the higher magnitude signal (command or feedback) at
terminal 3. Provides 0 to 110% sensitivity for input at
terminal 3.
R16 BIAS Changes the bias voltage to the current
drive amplifier. Turn CW for positive bias voltage. Adjust
for desired offset between command and feedback, or to
electrically null a servovalve. Change R18 (20K to 10M)
to adjust range of bias adjustment if necessary. A lower
value of R18 will increase range of bias.
R34 CURRENT LIMIT Adjusts maximum current
deliverable to the servovalve. Can be used to restrict
valve flow and velocity in a positional servo system. Turn
CW to increase maximum current. Adjusts max
servovalve current between 9 mAdc and full output.
R43 GAIN-2 Changes gain of the auxiliary error-
summing/signal processing input stage. Turn CW to
increase gain. Provides 1:21 gain range.
R56 FILTER FREQUENCY Changes the corner
frequency of low-pass filter on differentiator. Turn CW to
decrease frequency and increase filtering action. Adjust
to reduce excessive noise from derivative section.
R57 DERIVATIVE GAIN Changes derivative gain if
Derivative Jumper is on. Turn CW to increase gain.
R58 INTEGRAL GAIN Changes integral gain if
Integral Jumper is on. Turn CW to increase gain.
JMPR1 MODE JUMPER Places servoamplifier into
either current or voltage drive mode, dependent on valve
requirements. Select OFF for current drive mode,
select ON for voltage drive mode.
JMPR2 DERIVATIVE JUMPER Select ON to add
derivative control.
JMPR3 INTEGRAL JUMPER Select ON to add
integral control.
JMPR4 PROPORTIONAL JUMPER Select ON to
add proportional control.
JMPR5 RELAY LOGIC JUMPER Changes activation
state of relay. Select OFF for active-low state;
grounding terminal 14 will cause relay to activate,
resetting integrator. Select ON for active-hi state;
supplying +5 to +15 Vdc to terminal 14 will cause relay to
activate.
CIRCUIT ANALYSIS
+Vcc
Ic
Ib
+
Vce
-
CE
Vbe
Ve
R27
Re
Rcoil
V
Rcoil
R31
V
R31
Vc
+
Ve
-
From Analysis:
I max = 11v / [(R27 + 20) + Rcoil]
R28, 29 = 4v / I rated (Q1, Q2
collector supply)
Common-Emitter Configuration:
Ic = Vcc / (Re + RL + Rb/B)
Vce = Vc - Ve
Ve = Ic x Re
Ic = Vcc / (Re + RL + Rb/B)
Ve = Ie x Re = Ic x Re
Ie = Ic
SERVOAMPLIFIER/SERVOCONTROLLER SCHEMATIC
TL082CP
-
+
CW
NO
NC
C
TL084CN +
TL084CN
-
+
TL084CN
-
+
TL084CN
TL084CN
-
+
TL084CN
TL084CN
-
+
CW
CW
CW
CW
CW
TL082CP
-
+
8
4
5
R5
24.9K
R6
R7
100K
R8
100K
1
2
3
11
4
2
3
1
A1A
R9
100K
CW R10
100K
R12
100K
-E
+E
C3 R1
R2
2K
5
6
11
4
7
R21
A2B
20K
R22
4.99K
VCL
R14
4.99K
4.99K
R3 R4
100K
JMPR4
R20
20K
R58
500K
R51
1K
+E
8
4
6
5
7
D1
1N5239B 1N5239B
D2
C11
2F
JMPR3
VI
R52
20K
+E
4
-E
2
3
11
1
A2A
D3
R33
20K
R32
20K
+E
-E
9
10
4
11
8
D4
1N4148
1N4148
C9
R34
10K
+E
R53
100
8
14
1
6 2
D6
K1
HE721C2400
521-9200
D5
1N4148
Q3
2N2222A
R55
4.75K
R54
10K
R18
402K
R16
100K
+E -E
R23
11
-E
12
13
4
+E
14
A2D
R25
100
R24
1M
C5
33pF
20K
R28
39.2
Q1
TIP29A
R26
576
R27
39.2
Q2
TIP30A
R29
39.2
C6
0.001F
-V
13
R47
24.9K
4.99K
R30
R31
20
12
14
R35 C8 R36
6
C7 R37
100K R38
100K
R39
100K
R40
TP11
7
11
R41
30.1K
9
10
+E
4
A1C
11
-E
8 11
4
12
13
A1D
14
+
E
-E
R43
100K
R44
10
R42
4.99K
R45
R56
100K
C10
0.33F
R48
1K
R49
3.01K
R57
1M
C4
100pF
+E
-E
2
3
8
4
1
A3A JMPR2
R50
20K
A3B
-E
-E
+E
+V
-E
A2C
SCALE
GAIN-1
GAIN-2
BIAS
RELAY LOGIC
JUMPER
PROPORTIONAL
JUMPER
INTEGRAL JUMPER
DERIVATIVE JUMPER
OFF
ON
OFF
OFF
ON
ON MODE
JUMPER
ON
VOLTAGE
CURRENT
+V
+
-
CS1
-
+
-
P
D
I
12.5 mA/V
CURRENT
LIMIT
VP
VSUM1
VR3
ISV
JMPR1
OFF
INTEGRAL
GAIN
JMPR5
OFF
ON
OFF IS ENABLED LOW
ON IS ENABLED HI
FILTER
FREQ.
DERIVATIVE
GAIN
VD
TP9
VSUM2
9
10
R46
2M
0
TL084CN
-
+
5
6
A1B
7
+E
BUFFER
CURRENT DRIVER
C22
33 pf
SERVOVALVE
COIL
FEEDBACK INPUT
TO 15vdc
CMD OR FEEDBACK
INPUT TO 120vdc
RELAY TRIGGER
RESET INTEGRATION
(SEE ADJUSTMENTS
JMPR 5 - RELAY LOGIC)
CMD AUXILIARY INPUT
INNER-LOOP INPUT
SAMPLING
RESISTOR
CW
SUMMING AMPLIFIER
K1 RELAY
AUXILIARY SUMMING
FBK AUXILIARY INPUT
SIGNAL GROUND
ERROR OUTPUT MONITORING
SIGNAL GROUND
INNER-LOOP INPUT
CMD INPUT
TO 15 vdc
AUXILIARY OUTPUT
POWER INPUT
(N122-142A ONLY)
POWER SUPPY SECTION
(N121-132A ONLY)
15
16
18
19
TP17
C1
10mF
C2
10mF
17
-V
-E
+E
+V
-15 to -22V
Unregulated**
-15Vdc Regulated
50 mA
Common
+15Vdc Regulated
50 mA
+15 to 22V
Unregulated**
** @ rated valve current. The unregulated power (V) can be supplied
from the regulated power source ( E) if adequate capacity is available.
23
18
17
15
20
19
16
22
21
F1*
F2*
28
26
27
29
(-)Er (-10) Regulated
(+)E (+15) Regulated
(+)Er (+10) Regulated
(+)V (+15 to +22) Unregulated
(-)V (-15 to -22) Unregulated
(-)E (-15) Regulated
T1
50 VA max
50-60 Hz
210-250 Vac
Alternate configuration:
Common
R59 adjusts +E
(factory set for +15.0 V)
T1
50 VA max
50-60 Hz
105-130 Vac
R62 adjusts -Er
(factory set for -10.0 V)
R61 adjusts +Er
(factory set for +10.0 V)
F1*
F2*
* F1 and F2 are 0.5A slow-blow fuses.
28
26
27
29
R60 adjusts -E
(factory set for -15.0 V)
24
CAUTION: Polarities must be observed-serious damage or personal injury may result.
NOTES:
1. I = SQUARE PAD ON PCB
2. CW = CLOCKWISE
3. R45 = NO FIT COMPONENT
4.V
CL
= TEST POINT (EX.)
5. = STAND-OFFS
The Servoamplifier consists of several
main control stages including an Input
Summer stage (AlA). independent PID
control stages - proportional gain
(AlB). integral gain (A3B) & adjustable
low-pass filter control on derivative
stage (A3A) - an Inner Loop input
stage (A2B). and a Current Driver
output stage (A2D and Q1/Q2) with
current limiting amplifiers (A2A /
A2C). An additional auxiliary input
stage (AlC) and gain control stage
(A1D) is provided for enhanced
configuration options.The Input Stage
(AlC) Is available for such
configuration options as a summer or
lag / delay compensation.The Gain
Stage (AID) is available for such
functions as proportional, integral, lag-
lead, lag only compensation or
derivative-Iag control of inner loop
feedback signals. R56 changes the
corner frequency of the low-pass filter
& reduces noise from the derivative
loop section. R57 changes derivative
Gain. R4 changes proportional Gain
from 1:21 range. R58 is used to
change integral loop Gain. Refer to
GAIN section for technical analysis &
details.
The input stage (AlA) sums signals
applied to terminals 1, 2 and 3. Servo
feedback is normally connected to
terminal 2 and servo command to
terminal I. An additional feedback or
command may be connected to
terminal 3 which can provide scaling
of higher magnitude signals.
Null Bias of the servoamp is
accomplished by adjusting Bias Pot
(R16). Jumper select PID Control
is provided for servovalve control set-
up and tuning. An Integrator reset
function may be activated by external
signals. A SPDT Relay is provided
which may be used for integrator
reset, signal switching, or other
function.
Inputs to stages AlA and auxiliary
stage AlC may be configured as a
Differential Amplifier if desired.The
auxiliary stage (AlC) may also provide
other useful configurations or options
Including signal frequency
compensation, polarity inverter or
Buffer capabilities.
The Output of Summing stage (AlA) is
amplified by Proportional Gain Stage
(Al B) and is also available at terminal
4 which can also be used for Error
Output Monitoring.Terminal 8 is
provided as an Inner-Loop input
option with components C3 and RI
(Not Furnished) used for
differentiation of the feedback signal.
C22 (across R12 of AlA) provides
frequency compensation & stability.
The additional auxiliary input stage
(AlC) sums signals applied to
terminals 6 & 7.This summed signal is
applied to the +positive or non-
inverting terminal of Al D to obtain a
non-inverted amplifier signal at test
point TP9 or auxiliary output terminal
9. An output signal can be provided at
terminal 9 or may be summed at stage
A2B with the insertion of plug-in
resistor R45 usually set to 20K.This
resistor can easily be inserted using
the provided component stand-offs.
A Lag or Delay network may be
configured using input stage (A1C)
and feedback components C8 and
R38.
The input at terminal 10 (Inner-Loop
Input) is typically used to provide
Dither on the output current as
required. Component locations are
provided for R22 and C9 which may
be used to add a first-order roll off
filter. Operational Amplifier stages
(A2A & A2C) can limit the output
current by limiting the voltage input to
the Current Driver stage (A2D).
The Current Driver output stage
(A2D) controls the voltage across the
sampling resistor (R31) when a load
(servo valve coil) is connected across
Terminal 12 & 13. Since R31<< R30,
the current through the load (I
SV
) is
approximately equal to the voltage
across the sampling resistor divided by
its resistance (R31 = 20) in ohms.
This current drive output stage makes
the servoamplifier Gain independent
of changes in coil resistance and
minimizes the dynamic effects of
servovalve coil inductance. By
monitoring voltage at Test Point - I
SV
to Ground, the current through the
load or coil can be calculated. Current
Drive to Valve rating is 12OmA dc
Maximum.The Driver may be
configured for 6OmA by properly
sizing components R27, 28 & 29.
Current range capability is dependent
on the resistance of the servovalve
coil (R
COIL
) See Specifications.
Resistors R27, 28 and 29 provide
momentary ground shorting
protection.
CIRCUITRY
GAIN
Proportional Loop Gain: Inverting Amp (A1B)
Gain = -[(R4 + R3) / R3]
Min Gain = 1; Max Gain = 21
Integral Loop Gain: Inverting Amp (A3B)
R
IN
= R
58
+ R
51
e
o
= -(1/R
IN
C
11
) e
IN
dt -(e
IN
/ R
IN
C
11
) t + C
11
e
o
/ t e
IN
= 1 / R
IN
C
11
where V / V-sec = 1 / R
IN
C
11
Differential Loop Gain: Inverting Amp (A3A)
e
o
= -Rf C
10
d/dt e
IN
where Rf = R
49
+ R
57
e
o
/ e
IN
= Rf Cs / R
IN
Cs + 1 Lag
e
o
= -e
IN
(Rf Cs) Rf
MIN
= 3.01K; Rf
MAX
= 1Meg; C = 0.33f
Inner-Loop Gain - Input at Terminal 10:
i
o
[R
21
R
30
/ R
31
(R
22
+ R
23
)] x [e
10
/ R
46
]
Inner-Loop Gain - Input at Terminal 8:
i
o
[R
2
R
30
/ R
31
(R
22
+ R
23
)] x [C
3
e
8
/ (R
1 +
R
2
) C
3
+ 1]
Suggested Setup Procedure:
1. Turn off hydraulic power and
relieve pressure.
2. Set the GAIN pot (R4) and the
INTEGRATOR pot (R58) on the
N121-132A card approximately
five turns from full counter-
clockwise.
3. Set the SCALE pot (R9) on the
N121-132A card fully clockwise.
4. Remove the tachometer
connection from terminal [3] on
the N121-132A card.
5. Apply electrical power.
6. Adjust ZERO (R8) and SPAN
(R11) on the N123-139 card so
that 4-20 mA input corresponds
to 10 V output to the N121-
132A card. Refer to the N123-
139 line card.
7. Re-connect the tachometer lead
to terminal [3] on the N121-
132A card.
8. Adjust the GAIN pot (R4) and
(R58) on the N121-132A card
for maximum (clockwise) with
stable controller coil current (no
oscillation).
9. Set the SCALE pot (R9) on the
N121-132A card for desired
speed range vs command signal
range. Check the stability of the
system throughout full speed
and load range.
10. Adjust the BIAS pot (R16) on
the N121-132A card for zero
load speed at zero command
input.
Modifications to the
N121-132A card:
(Reference Moog Document N121-132A)
Set PID jumpers for I control.
Set jumper JMPR1 for current
drive.
It may be desirable to activate
solenoid to short out integrator
when "0" RPM is commanded.
MODEL N123-139
MODEL N121-132 A
TYPICALLY
LESS THAN
MODEL 63-500
DISPLACEMENT
DC
DRIVE
115 Vac 50
INPUT CURRENT
Use shielded
cable. The shield
at the remote
end of the cable
must be pulled
back, cut off and
taped to be
electrically
isolated.
LOAD
3
4
1
CURRENT TO VOLTAGE
29
28
27
26
PUMP
VARIABLE
(30 METERS)
SERVOCONTROLLER
FROM PLC
TO 60 Hz
OR OTHER
4-20 mA
TACHOMETER
SHAFT
DRIVE
CONVERTER
18 GAUGE
100 FEET
21 20 18
11
3
2
5 7 6
REMOVE R7
PUMP
SOURCE
13 12
FIXED
HYDRAULIC
DISPLACEMENT
MOTOR
CONTROLLER
CLOSED-LOOP VELOCITY CONTROL WITH
ACCELERATION LIMIT
CLOSED-LOOP POSITION
CONTROL (3-STAGE VALVE)
Suggested Setup Procedure:
(Reference Moog Documents N121-132A and N123-134)
1. Turn off hydraulic power and
relieve pressure.
2. Set the GAIN pots (R4 and
R43) on the N121-132A card
approximately five turns from
full counter-clockwise.
3. Set the SCALE pot (R9) on
the N121-132A card full
clockwise.
4. Apply electrical power.
5. On the N121-132A card,
temporarily remove the
feedback connection from
terminals [2] and [6]. Adjust the
BIAS pot (R16) for zero coil
current at midstroke of the
command pot. Re-connect
terminal [2].
6. Apply hydraulic pressure.
7. Adjust the N123-134
Exciter/Demodulator card for
proper GAIN (R5) and PHASE
(R16) by monitoring the voltage
at terminal [12].
8. Re-connect terminal [6] of the
N121-132A card.Turn the
SCALE pot (R9) full counter-
clockwise.
9. Increase the GAIN pots (R4,
R43) clockwise until the system
exhibits the desired sensitivity.
Check the stability of the system
throughout the full load range.
10. Adjust the BIAS pot (R16) for
mid actuator position at zero
command signal, or as desired.
Modifications to the
N121-132A card:
(Reference Moog Document N121-132A)
Set the jumpers for
proportional control only.
Insert R45=20K.
Remove R20.
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MODEL N121-132A SERVOCONTROLLER
MODEL N122-142A SERVOAMPLIFIER
TYPICAL APPLICATION: CLOSED-LOOP
POSITION CONTROL (2-STAGE VALVE)
CDL6170 Rev D 500-188 101
Moog Inc., East Aurora, NY 14052-0018
Telephone: 716/655-3000
Fax: 716/655-1803
Toll Free: 1-800-272-MOOG
www.moog.com
1. Ensure electrical and hydraulic
power is off.
2. Set the GAIN-1 pot (R4) on the
N121-132A card approximately
five turns from full counter-
clockwise.
3. Set the SCALE pot (R9) on the
N121-132A card full clockwise.
4. Apply electrical power to the
N121-132A.
5. Temporarily remove the
feedback connection from
terminal [2]. Adjust the BIAS pot
(R16) for zero coil current when
command pot is set to zero
volts. Re-connect terminal [2].
6. Gradually apply hydraulic
pressure. If the actuator extends
fully hardover, reverse terminals
[12] and [13].
7. Increase the GAIN pot (R4)
clockwise until the system
exhibits the desired sensitivity.
Check the stability of the system
throughout the full load range.
8. Adjust the BIAS pot (R16) for
mid actuator position at zero
command signal, or as desired.
9. Adjust the SCALE pot (R 9) for
the desired command sensitivity.
FORCE SERVO WITH UNBALANCED ACTUATOR
1. Ensure hydraulic power is off
and actuator control ports are at
atmospheric pressure.
2. Turn the gain pots down fully.
3. On N121-132A, temporarily
disconnect the FORCE
FEEDBACK at pin 1.
4. Turn on electrical power.
5. On N121-135 adjust ZERO-1,
ZERO-2 and BIAS pots for zero
Vdc at pins 5, 4 and 2.
6. On N121-132A, adjust BIAS for
zero current with zero
COMMAND.
7. Gradually apply hydraulic power.
The actuator will move to full
extend or full retract position.
8. Increase command until the
servovalve current is
approximately 20% of its rated
signal and the head end pressure
is equal to the system pressure.
9. On N123-135, adjust SPAN-1
and GAIN pots for the desired
sensitivity at pins 5 and 2.
10. Change the command until the
servovalve current is
approximately 20% of its rated
signal and the rod end pressure
is equal to the system pressure.
11. On N123-135, adjust SPAN-2
pot for the desired sensitivity at
pin 4. NOTE: span and zero pots
are interactive. Several iterations
(steps 4 to 11) may be required.
12. Turn off hydraulic and electrical
power.
13. On N121-132A, re-connect the
FORCE FEEDBACK at pin 1.
14. Turn on electrical power.
15. Gradually apply hydraulic power.
16. Increase the GAIN-1 pot until
the system response is at the
desired level.
17. Adjust the N121-132A BIAS pot
for zero FORCE FEEDBACK
with the desired COMMAND.
18. Adjust SCALE pot for the
desired COMMAND vs. FORCE
FEEDBACK ratio.
Initial Set-up of the N121-132A card:
Set MODE jumper to "OFF" (current drive).
Set PROPORTIONAL jumper to "ON".
Set INTEGRAL jumper to "OFF".
Set DERIVATIVE jumper to "OFF".
Initial Set-up of the N121-132A card:
Set MODE jumper to "OFF" (current drive).
Set PROPORTIONAL jumper to "ON".
Set INTEGRAL jumper to "OFF".
Set DERIVATIVE jumper to "OFF".
Initial Set-up of the N123-135 card:
Select and insert R34 head end area
R12 rod end area
MOUNTING: Mount using Curtiss type TR-3 plastic track (P/N 65419-1)
=
The products described herein are subject to change at any time without
notice, including, but not limited to, product features, specifications, and designs.
R
230 Vac 50-60 Hz
-E
R
+E R
A2B A1B A1A
SCALE
+E
-E
26
27
28
29
20
3
16
15
13
12
1
21
19
17
SERVOCONTROLLER
MODEL N121-132A
GAIN-1
LOOP
GAIN A3A
A4A
A1
A2 A3B
SPAN-1
SPAN-2
-
+
SIGNAL CONDITIONER
MODEL N123-135
12
13
14
2
4
5
-
+
9
10
11
8
7
6
VALVE
SERVO
Ps
ZERO-1
ZERO-2
R34
R12
BIAS
-
- +
+
-
+ -
+
FORCE
COMMAND
- ROD PRESSURE
+ HEAD PRESSURE
FORCE
ON
LOAD
STRAIN GAGE
PRESSURE
TRANSDUCERS
R
VALVE
SERVO
P
s
POSITION COMMAND
S
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N
1
2
1
-
1
3
2
A
POTENTIOMETER
POSITION FEEDBACK
s
s
LOAD
DRIVE
50-60 Hz
115 Vac
29
28
27
26
-E
+E
+E
-E
22
18
3
12
13
17
ACTUATOR
POTENTIOMETER
*
Ground shield at controller end only. *
C2 C1
*
21
2

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