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Woodward 8200-225 Product Manual

Servo position controller
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Released
Product Manual 26236
(Revision W, 4/2020)
Original Instructions
SPC
Servo Position Controller
Installation and Operation Manual

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Summary of Contents for Woodward 8200-225

  • Page 1 Released Product Manual 26236 (Revision W, 4/2020) Original Instructions Servo Position Controller Installation and Operation Manual...
  • Page 2 Revisions— A bold, black line alongside the text identifies changes in this publication since the last revision. Woodward reserves the right to update any portion of this publication at any time. Information provided by Woodward is believed to be correct and reliable. However, no responsibility is assumed by Woodward unless otherwise expressly undertaken.

  • Page 3: Table Of Contents

    Network Architecture ........................... 94 NMT Master Functions ..........................94 ........................109 EVISION ISTORY ........................110 ECLARATIONS The following are trademarks of Woodward, Inc.: Woodward The following are trademarks of their respective companies: DeviceNet (Open DeviceNet Vendor Association, Inc. [ODVA]) Windows (Microsoft Corporation) Woodward...
  • Page 4 Figure 4-38. Saving the Calibration Settings ....................68 Figure 4-39. Selecting “Run” ........................68 Figure 4-40. SPC Service Tool Overview Tab .................... 70 Figure 4-41. Calibration will be performed through DeviceNet or CANopen ..........71 Figure 4-42. Alarm Structure ........................72 Woodward...
  • Page 5 Table 3-1. System Accuracy ........................25 Table 4-1. Network Status LED ........................29 Table 4-2. Module Status LED ........................29 Table A-1. DRFD to SPC Cross Reference ....................89 Table D-1. Transmit PDO Summary ......................101 Table D-2. Receive PDO Summary ......................102 Woodward...

  • Page 6: Warnings And Notices

    Equipment • Eye Protection • Hearing Protection • Hard Hat • Gloves • Safety Boots • Respirator Always read the proper Material Safety Data Sheet (MSDS) for any working fluid(s) and comply with recommended safety equipment. Woodward...

  • Page 7: Electrostatic Discharge Awareness

    Do not touch the components or conductors on a printed circuit board with your hands or with conductive devices. To prevent damage to electronic components caused by improper handling, read and observe the precautions in Woodward manual 82715 , Guide for Handling and Protection of Electronic Controls, Printed Circuit Boards, and Modules.

  • Page 8: Regulatory Compliance

    The final assembly is subject to acceptance by CSA International or the authority having jurisdiction. Marine: Models 8200-225 & 8200-226 American Bureau of Shipping, Steel Vessel Rules 4-9-7/13, 1-1-4/3.7, 2003 Det Norske Veritas, Rules for Classification of Ships, High Speed and Light Craft and Mobile Offshore Units Lloyd’s Register for ENV1, ENV2, and ENV3 as specified in Test...
  • Page 9 été mis hors tension; ou que vous vous situez bien dans une zone non explosive. La substitution de composants peut rendre ce matériel inacceptable pour les emplacements de Classe I, Division 2 ou Zone 2. Woodward...

  • Page 10: Chapter 1. General Information

    PC and communicates with the SPC through a serial connection. The serial port connector is a 9-pin sub-D socket and uses a straight-through cable to connect to the PC. Woodward offers a USB to 9-pin Serial Adapter kit if needed for new computers that do not have a 9-pin serial connector (P/N 8928-463).

  • Page 11: Chapter 2. Installation

    This bracket’s design allows users to first attach the SPC to the bracket, then install the entire assembly onto a cabinet side panel. Please refer to Figure 2-1. Woodward...

  • Page 12: Shields And Grounding

    A shield termination is provided at the terminal block for each of the signals. All of these inputs should be wired using shielded, twisted-pair wiring. The exposed wire length beyond the shield should be limited to one 25 mm (1 inch). The shield should be terminated at only one end in order to avoid creating a ground loop. Woodward...

  • Page 13: Figure 2-2. Spc Divicenet Outline Drawing

    Released Manual 26236 SPC Servo Position Controller Figure 2-2. SPC DiviceNet Outline Drawing Woodward...

  • Page 14: Figure 2-3. Spc Canopen Outline Drawing

    Released Manual 26236 SPC Servo Position Controller Figure 2-3. SPC CANopen Outline Drawing Woodward...

  • Page 15: Terminal Block Connections

    (15 &18). If a redundant AC transducer is used, connect a shielded twisted-pair cable from each LVDT or RVDT secondary to LVDT/RVDT 2A (19 & 20) and LVDT/RVDT 2B (22 & 23). Connect the shields to SHIELD (21 & 24). Woodward...

  • Page 16: Figure 2-4. Status Relay Driver Output Wiring

    MONITOR OUT–(41). Connect the cable shield to SHIELD (42) unless it is grounded at the meter readout. A 4 mA signal occurs when the actuator is positioned at 0 %, and a 20 mA signal occurs when the actuator is positioned at 100 %. Woodward...
  • Page 17 DeviceNet network. Red/green indicators are provided to indicate the module and network status. The SPC conforms to DeviceNet Specification Release 2.0 as a Group II only slave. This product has been self-tested by Woodward and found to comply with ODVA Protocol Conformance Test Version 16.
  • Page 18 The serial port connector (9-pin Sub-D socket) is used for connecting to a PC via an extension cable (straight through). The wiring must meet the requirements of EIA RS-232. This standard requires a maximum cable length of 16 m (50 feet) with a total capacitance of less than 2500 pF. Woodward...

  • Page 19: Figure 2-5A. Spc Wiring Diagram

    Released Manual 26236 SPC Servo Position Controller Figure 2-5a. SPC Wiring Diagram Woodward...

  • Page 20: Figure 2-5B. Spc Wiring Diagram

    Released Manual 26236 SPC Servo Position Controller Figure 2-5b. SPC Wiring Diagram Woodward...

  • Page 21: Figure 2-5C. Spc Wiring Diagram

    Released Manual 26236 SPC Servo Position Controller Figure 2-5c. SPC Wiring Diagram Woodward...

  • Page 22: Figure 2-5D. Spc Wiring Diagram

    Released Manual 26236 SPC Servo Position Controller Figure 2-5d. SPC Wiring Diagram Woodward...

  • Page 23: Figure 2-5E. Spc Wiring Diagram

    Released Manual 26236 SPC Servo Position Controller Figure 2-5e. SPC Wiring Diagram Woodward...

  • Page 24: Figure 2-5F. Spc Wiring Diagram

    Released Manual 26236 SPC Servo Position Controller Figure 2-5f. SPC Wiring Diagram Woodward...

  • Page 25: Figure 2-5G. Spc Wiring Diagram

    Released Manual 26236 SPC Servo Position Controller Figure 2-5g. SPC Wiring Diagram Woodward...

  • Page 26: Figure 2-5H. Spc Wiring Diagram

    Released Manual 26236 SPC Servo Position Controller Figure 2-5h. SPC Wiring Diagram Woodward...

  • Page 27: Spc Specifications

    Nominal Range (4 to 20) mA Operating Range (0 to 25) mA Isolation Voltage 500 V (rms) 500 Ω Maximum Load Output Filter 3 ms lag Resolution 12 bits Linearity 0.2 % of full scale Temperature Sensitivity 300 ppm/°C Woodward...
  • Page 28 Isolation Voltage 500 V (rms) Maximum Delay 1 ms Digital Input (DeviceNet/CANopen) Node Isolation 500 V (rms) Node Power self-powered Service Port Protocol RS-232 Connector 9-pin Sub-D socket Interface Cable Type Extension (not null modem) Isolation 500 V (rms) Woodward...

  • Page 29: Diagnostics

    H2S gases per IEC 60068-2-60: 1995 Part 2.60 Method 1 and 4 (Flowing Mixed Gas Corrosion Test). It will withstand levels typical of telecommunications and computer installations as defined by Battelle Labs Class III (between IEC 60721-3-3 classification 3C1 and 3C2, light industrial to urban industrial, heavy traffic). Woodward...

  • Page 30: Spc User's Guide

    Detailed information on the SPC is contained in the SPC Service Tool. After loading the Service Tool onto a PC, go under the Help header in the Service Tool Select “Contents”. The SPC Service Tool can be found on the Woodward website at: www.woodward.com/software. Select software product “SPC Tools”. Follow the installation instructions given on that page.
  • Page 31 Service Tool. Finding Detailed Operating Instructions From the Windows Start menu, select Programs, then Woodward, then SPC Service Tool, and finally select SPC Service Tool. Once the SPC Service Tool has started, select Help from the menu, and then select User's Guide.

  • Page 32: Figure 4-1. Selecting Communication Port

    The SPC Service Tool communicates with the SPC in order to display and modify values in the SPC. To establish communication between the service tool and SPC, open the SPC Service Tool and select the appropriate serial port on the PC. Figure 4-1. Selecting Communication Port Woodward...

  • Page 33: Figure 4-2. Connecting To The Spc

    This section of the status bar shows the status of communication between the service tool and the SPC. For more information, see Managing Service Tool–SPC Communication. SPC Operating Mode This section of the status bar shows the current operating mode of the SPC. Woodward...
  • Page 34 The servo controller proportional and integral gains can be configured to be adjustable over the Digital Network bus by checking the Gain Adjustments are made from the fieldbus check box on the Servo Controller page of the Configuration File Editor. Woodward...

  • Page 35: Figure 4-4. Selecting Configuration Options

    Figure 4-5. Determining Service Interface Version The Software Part Number corresponds to the appropriate Service Interface Version. The Configuration Editor window will open with an incomplete configuration that is ready to be edited once the Service Interface Version is selected. Woodward...

  • Page 36: Figure 4-6. Selecting Service Interface Version

    Position Demand, Feedback, Position Error, Driver and DiviceNet or CANopen. The following topics describe each part of the configuration: • Configuring the Servo Controller • Configuring the Position Demand Source • Configuring the position Feedback • Configuring the Position Error Settings • Configuring the Driver • Configuring DiviceNet or CANopen Woodward...

  • Page 37: Figure 4-7. Configuration Editing Tabs

    As values are entered in a configuration window, other portions of the window may change so that only the relevant information is displayed. Changes are saved by selecting File and then Save or Save As from the menu. Figure 4-8. Saving the Configuration File Woodward...

  • Page 38: Loading The Configuration File To The Spc

    After the configuration is loaded, the Configuration Identifier, which is displayed in the SPC Service Tool on the Overview Tab, will change to indicate the loaded configuration file name and time. Figure 4-10. Identifying the Configuration File in the Control Woodward...

  • Page 39: Figure 4-11. Selecting Type Of Control

    The controller type is selected on the Servo Controller page of the Configuration File Editor. • Proportional actuators must use the Proportional controller. • Integrating actuators use the P, PI, PI w/Lag, or PI w/Lead-Lag controllers. Figure 4-11. Selecting Type of Control Woodward...
  • Page 40 The lead/lag may he used for increasing or decreasing the apparent bandwidth of the actuator thereby tailoring performance for the application. Of course, the control cannot force the actuator to exceed its physical limits, e.g., slew rate and dead time. Woodward...

  • Page 41: Figure 4-12. Proportional-Control Configuration Settings

    The actuator current which corresponds to 0 % position demand. Allowed Range: –250 mA to +250 mA Maximum Position Current The actuator current which corresponds to 100 % position demand. Allowed Range: –250 mA to +250 mA Lag Time Constant The approximate actuator lag time. Woodward...

  • Page 42: Figure 4-13. Proportional Control Structure

    The lag block reduces overshoot when the position demand changes faster than the actuator can respond. Ideally, the lag exactly matches the response of the actuator and therefore no change is required out of the Ki/s block. Woodward...

  • Page 43: Figure 4-14. P-Control Configuration Settings

    This Control selects the sense of the error signal in the controller. For example, when the demanded position exceeds the actual position (positive error), a forward-acting controller drives the output more positive, while a reverse- acting controller drives the output more negative. Woodward...

  • Page 44: Figure 4-15. P Control Structure

    An SPC adjusted to an over-damped condition will have slower response and better stability. It is less susceptible to instability due to changes in the system. The ideal adjustment is a critically damped condition. This produces the best stability and response combination. Refer to Manual 83402 PID Control for additional information on tuning the control. Woodward...

  • Page 45: Figure 4-16. Pi-Control Configuration Settings

    Allowed Range: –250 mA to +250 mA Actuator Maximum Current Determines the most positive actuator current that can be output, and sets the scaling for the 100 % controller output point. Allowed Range: –250 mA to +250 mA Woodward...

  • Page 46: Figure 4-17. Pi Control Structure

    Adjust Controller Integral Gain to a minimum value. Increase Controller Proportional Gain until the actuator just starts to oscillate. Record the Period of the oscillation (Posc) and Controller Proportional Gain (Kosc). Set Controller Proportional Gain 0.45 * Kosc and Controller Integral Gain 1.2/Posc. Woodward...

  • Page 47: Figure 4-18. Pi With Lag-Control Configuration Settings

    PI control. Use this control if you have a critical process which cannot tolerate overshoots. This control will limit actuator response although the lag can be set to a low value to avoid excessive delay. Woodward...
  • Page 48 Max Position Wind-Up Threshold is set to 100 % this function is disabled, and the integrator is always enabled regardless of the position demand value. Set the Max Position Wind-Up Threshold as close as possible to the maximum operating point. (Typically set at 1 % below the Maximum Position) Allowed Range: 90 % to 100 % Woodward...

  • Page 49: Figure 4-19. Pi W/Lag Control Structure

    An SPC adjusted to an over-damped condition will have slower response and better stability. It is less susceptible to instability due to changes in the system. The ideal adjustment is a critically damped condition. This produces the best stability and response combination. Refer to Manual 83402 PID Control for additional information on tuning the control. Woodward...

  • Page 50: Figure 4-20. Pi With Lead-Lag Control Configuration Settings

    Actuator Minimum Current Determines the most negative actuator current that can be output, and sets the scaling for the -100 % controller output point. Allowed Range: –250 mA to +250 mA Woodward...

  • Page 51: Figure 4-21. Pi W/Lead-Lag Structure

    Set the Max Position Wind-Up Threshold as close as possible to the maximum operating point. (Typically set at 1 % below the Maximum Position) Allowed Range: 90 % to 100 % Figure 4-21. PI w/Lead-Lag Structure Woodward...
  • Page 52 If using the secondary source because the primary source failed, and the primary source becomes functional, switch back to the primary source IF: The two sources match each other within a configurable amount, and The primary source has been functional for at least five seconds continuously Woodward...

  • Page 53: Figure 4-22. Position Demand Divicenet Or Canopen Only

    DeviceNet or CANopen Only—The SPC position demand is received on the DeviceNet or CANopen bus. Position Demand Fault Response Select Position Demand Fault to respond as an alarm or shutdown. Latch position demand fault check-box Check this box if position demand faults should be latched. Woodward...

  • Page 54: Figure 4-23. Position Demand Divicenet Or Canopen Primary

    Analog 100 % Position Demand mA value that represents 100 % position demand on the Analog Demand Input. All SPCs configured for redundant input (CAN/Analog, DeviceNet/Analog or Analog/Analog) must be configured for Fault Response = Shutdown. Please see the SPC Calibration section. Woodward...

  • Page 55: Figure 4-24. Position Demand Analog Only

    Analog Only—The SPC position demand is received on the Analog Demand Input. 0 % Position Demand mA value that represents 0 % position demand on the Analog Demand Input. 100 % Position Demand mA value that represents 100 % position demand on the Analog Demand Input. Position Demand Fault Response Woodward...

  • Page 56: Figure 4-25. Position Demand Analog Primary

    Threshold for the Position Demand Tracking alarm. Tracking Error Delay Delay time for the Position Demand Tracking alarm. Position Demand Fault Response Select Position Demand Fault to respond as an alarm or shutdown. Latch position demand fault check box Woodward...
  • Page 57 Not Used—This must be selected for Feedback 2 if the (4 to 20) mA is not selected and there is only one feedback device connected to the SPC. If Feedback 2 is used, the Redundant Feedback Settings appear. Woodward...

  • Page 58: Figure 4-26. Position Feedback Configuration

    0 V (dc) to facilitate checking the transducer health via the Feedback 1 Range Fault or Feedback 2 Range Fault. The transducer voltage does not have to increase with position, for example, the output could be 8 V (dc) at minimum position and 2 V (dc) at maximum position. Woodward...

  • Page 59: Figure 4-27. 3-Wire Device

    Figure 4-27. 3-wire Device Three-wire devices have no primary-to-secondary isolation, which prevents the SPC open-wire detection circuit from functioning properly. The “Enable feedback open-wire checking” check box should be un- checked to avoid nuisance Feedback Open Faults. Figure 4-28. 4-wire Device Woodward...

  • Page 60: Figure 4-29. 5-Wire Device

    (4 to 20) mA Feedback Configuration Settings Position Feedback is provided by a (4 to 20) mA output transducer. Feedback 2 is automatically set to “Not Used”. Feedback Range Fault Determines limits for the Feedback 1 Range Fault and Feedback 2 Range Fault. Woodward...
  • Page 61 Enable feedback open wire checking check box Check to enable Feedback 1 Open Fault and Feedback 2 Open Fault. The open-wire check is intended for transducers with isolated outputs only. If Feedback 2 is used, the Redundant Feedback Settings must also be configured. Woodward...

  • Page 62: Figure 4-31. Position Error Settings

    Delay time for Position Error Fault 2. Fault 2 Response Determines whether Position Error Fault 2 is an alarm or a shutdown. Latch position error fault check box Determines whether Position Error Fault 1 and Position Error Fault 2 are latching or non-latching. Woodward...

  • Page 63: Figure 4-32. Driver Configuration

    Determines the delay time for all driver faults. Dither Current Sets the driver dither current amplitude. Driver Fault Response Determines whether driver faults are alarms or shutdowns. Latch Driver Fault check box Determines whether driver faults are latching or non-latching. Woodward...

  • Page 64: Figure 4-33. Devicenet Configuration

    Sets the DeviceNet baud rate. DeviceNet MAC Address Sets the DeviceNet MAC address. Allowed values: 1–63 Calibration will be performed through DeviceNet check box Determines whether calibration will be performed with the service tool or through the DeviceNet port. Woodward...

  • Page 65: Spc Calibration

    Digital Control bus places a burden on the control system application software to perform all the required steps in the proper order. Please consult the control system documentation for information on performing calibration over the Digital Control bus. Woodward...

  • Page 66: Figure 4-34. Introduction

    This step defines the 0 % position point. Alarm and shutdown conditions are checked by the SPC during this step, but a shutdown will not force the actuator current to zero. Use the Null Current Offset to adjust the actuator to the Minimum position. Position value is not valid until calibrated. Figure 4-34. Introduction Woodward...

  • Page 67: Figure 4-35. Minimum Position Adjustment

    Released Manual 26236 SPC Servo Position Controller Figure 4-35. Minimum Position Adjustment Woodward...

  • Page 68: Figure 4-36. Maximum Position Adjustment

    Use the Null Current Offset to adjust the actuator to the Maximum position. Position value is not valid until calibrated. Figure 4-36. Maximum Position Adjustment Woodward...

  • Page 69: Figure 4-37. Calibration Verification

    SPC Servo Position Controller Verification The new position settings can be verified at this step. Two set points are provided to allow easy step response testing. Dynamics settings and alarm and shutdown settings may be modified, if needed. Figure 4-37. Calibration Verification Woodward...

  • Page 70: Figure 4-38. Saving The Calibration Settings

    The final step of the calibration procedure is to save the calibration settings within the SPC. Figure 4-38. Saving the Calibration Settings The SPC remains in the calibration mode until told to run by selecting Action, then selecting Run form the SPC Service Tool menu. Figure 4-39. Selecting “Run” Woodward...

  • Page 71: Working With A Running Spc

    SPC updated with the file name and date, load the configuration back into the SPC. See Configuring the SPC for detailed instructions. When editing numeric parameters, you must press Enter on the keyboard or select another item for changes to take place. Woodward...

  • Page 72: Figure 4-40. Spc Service Tool Overview Tab

    Indicates if the controller is being used as a Proportional, P, PI, PI with Lag, or PI with Lead-Lag. • Position Demand Source Identifies if the Position Demand Source is DiviceNet or CANopen or Analog. • Feedback Type Identifies the Feedback 1 and Feedback 2 devices being used in the SPC. Woodward...

  • Page 73: Figure 4-41. Calibration Will Be Performed Through Devicenet Or Canopen

    A non-latching alarm or shutdown will go away if the cause of the alarm or shutdown goes away. A latching alarm or shutdown does not go away until the alarm or shutdown cause goes away and an alarm/shutdown reset is performed. Woodward...

  • Page 74: Figure 4-42. Alarm Structure

    Latched alarms and shutdowns can be reset by pressing the Reset Alarms and Shutdowns button from either page. See also: Understanding Alarms and Shutdowns. An Alphabetical List of SPC Alarms and Shutdowns is at the end of this chapter. Woodward...

  • Page 75: Figure 4-43. Alarms

    Released Manual 26236 SPC Servo Position Controller Figure 4-43. Alarms Woodward...

  • Page 76: Figure 4-44. Driver Fault Error Shutdown

    Performing a “Reset Alarms and Shutdowns” on the SPC when it is in the shutdown condition will cause it to restore current to the actuator and attempt to position the actuator. If the cause of the shutdown has not been corrected, the SPC will shut down again. Woodward...

  • Page 77: Figure 4-45. Dynamic Settings

    The controller dynamics, dither current, etc. can be adjusted on the Dynamics Tab of the Service Tool while the SPC is running. Figure 4-45. Dynamic Settings The Position Demand In, Position, Actuator Current and Actuator Current Demand are only displayed on the Dynamics portion of the Service Tool. Woodward...

  • Page 78: Figure 4-46. Position Error Alarms

    Figure 4-46. Position Error Alarms Fault 1 Threshold Threshold for Position Error Fault 1 Fault 1 Delay Delay time for Position Error Fault 1 Fault 2 Threshold Threshold for Position Error Fault 2 Fault 2 Delay Delay time for Position Error Fault 2 Woodward...

  • Page 79: Figure 4-47. Driver Fault Error Alarms

    The following items are displayed on the SPC Service Tool Identification Tab. • SPC Serial Number The SPC serial number will also be displayed on the nameplate. • Software Part Number The SPC application software part number, including revision letter Woodward...

  • Page 80: Figure 4-48. Spc Service Tool Identification Tab

    Figure 4-49. Selecting Manual Stroking The SPC allows the user to enter a manual position demand. Manually stroking the actuator is considered to be a distinct operating mode, and the SPC must be shut down before manual stroking can be performed. Woodward...

  • Page 81: Figure 4-50. Spc Service Tool Manual Stroking

    The controller dynamics, dither current, etc., can be adjusted on the Dynamics tab of the SPC Service Tool. Alarm and shutdown settings can be adjusted on the Alarm Setup tab. SPC operation can be viewed on the Overview tab and the Alarms and Shutdowns tabs. Woodward...

  • Page 82: Quick Reference-Alarms & Shutdowns

    This fault indicates that the (4 to 20) mA analog position demand current is below 1 mA or above 24 • Type (alarm or shutdown): configurable [If in Alarm state and Analog Pos Dmd Range or Both Analog Pos Dmd Range & DeviceNet Comm Fault signals are lost the SPC will Shutdown] • Latching/non-latching response: configurable Woodward...
  • Page 83 Type (alarm or shutdown): configurable • Latching/non-latching response: latching Driver Overcurrent Fault • This fault indicates that the actual driver current exceeds the commanded driver current by more than 20 % of the full-scale current. • Type : Shutdown • Latching/non-latching response: latching Woodward...
  • Page 84 2 volts to 6 volts during the calibration procedure, and Feedback Range Threshold is 0.3 V. A Feedback 2 Range fault will occur if the voltage on the LVDT/RVDT 2A input is less than 1.7 V or greater than 6.3 V. • Type (alarm or shutdown): alarm • Latching/non-latching response: configurable Woodward...
  • Page 85 Position 1 Range Fault • This fault indicates that the Position 1 is less than (0 % - Position Range Threshold) or greater than (100 % + Position Range Threshold). • Type (alarm or shutdown): configurable • Latching/non-latching response: configurable Woodward...
  • Page 86 Position 2 Range Fault • This fault indicates that the Position 2 is less than (0 % - Position Range Threshold) or greater than (100 % + Position Range Threshold). • Type (alarm or shutdown): alarm • Latching/non-latching response: configurable Woodward...

  • Page 87: Chapter 5. Product Support And Service Options

    • An Authorized Independent Service Facility (AISF) provides authorized service that includes repairs, repair parts, and warranty service on Woodward's behalf. Service (not new unit sales) is an AISF's primary mission. • A Recognized Turbine Retrofitter (RTR) is an independent company that does both steam and gas turbine control retrofits and upgrades globally, and can provide the full line of Woodward systems and components for the retrofits and overhauls, long term service contracts, emergency repairs, etc.

  • Page 88: Returning Equipment For Repair

    All repair work carries the standard Woodward service warranty (Woodward Product and Service Warranty 5-01-1205) on replaced parts and labor.

  • Page 89: Replacement Parts

    • The unit serial number, which is also on the nameplate Engineering Services Woodward offers various Engineering Services for our products. For these services, you can contact us by telephone, by email, or through the Woodward website. • Technical Support •...

  • Page 90: Technical Assistance

    SPC Servo Position Controller Technical Assistance If you need to contact technical assistance, you will need to provide the following information. Please write it down here before contacting the Engine OEM, the Packager, a Woodward Business Partner, or the Woodward factory: General...

  • Page 91: Drfd To Spc Cross Reference

    2 SPCs can work – Must use external power source for EHPC xducer. PS lead/lag control ± 10, 20, 100, 250 mA redun nlatch redundancy must be performed (EHPC) (2) externally. May have to re-tune speed control loop. Woodward...
  • Page 92 The status contact on the DRFD is rated for 125 V (ac). The SPC’s contact is only rated (18 to 32) V (dc). • SPC only provides 18 V transducer power. • SPC maximum output current is 250 mA. Woodward...

  • Page 93: Spc Devicenet Address Information

    Released Manual 26236 SPC Servo Position Controller Appendix B. SPC DeviceNet Address Information Woodward...
  • Page 94 Released Manual 26236 SPC Servo Position Controller Woodward...

  • Page 95: Spc Driver With Pollution Resistance

    Appendix C. SPC Driver with Pollution Resistance SPC Part Number Rev Description 8200-226 Servo Position Controller with silicon coating 8200-226 Servo Position Controller with polyacrylate coating SPC revisions prior to Rev C are coated with a silicon coating material. Woodward...

  • Page 96: Canopen Communication

    Addressing can support up to 31 devices. To meet the 10 ms timing requirement, only 10 devices can be used at 500 kbaud. NMT Master Functions There are four distinct functions the master can perform. The slave units will respond to these functions. NMT Block Diagram (Woodward Implementation) Start All Nodes Operating State Start All Nodes...

  • Page 97: Figure D-3. Canopen Slave State Diagram

    The NMT master will transmit "Start All Nodes" broadcast message every 1 Sec. By sending this message at a periodical cycle we make sure that nodes that are added or power cycles will go back to the operational state without having to reset the NMT Master. Woodward...

  • Page 98: Figure D-4. Process Timing Diagram

    All SDO data will be requested when the NMT master goes from Pre-Operational to Operational. Woodward gives the designed application the option to request all this information under application control. This is to make sure that when the slave devices are powered, cycled, or added, their information is updated.

  • Page 99: Figure D-5 Sdo Process Timing Diagram

    The master error detection is the same as the slave error detection with the exception it will look to the fast message from slave to determine if the communication is failed. Again, the system integrator must determine if the timeout time is acceptable for the system/turbine. Woodward...

  • Page 100: Figure D-6 Fast Message Process Timing Diagram

    To make sure the CAN bus is not overloaded, the NMT master must send slow messages at a rate that will allow all messages to be sent and received. Woodward spaces the messages so that all slaves are addressed once every 750 ms.

  • Page 101: Figure D-7 Slow Message Process Timing Diagram

    # of data byte in slow message: # of SDO messages per 10 ms: # of SDO bytes: CAN link running at: 500 KBits = 2 µs per bit Frame Rate: 10 ms Max number of SPCs: Message overhead is: 51 Bits Woodward...
  • Page 102 CANopen Network. Example: In Woodward Controllers one FRAME is defined by the rate group that is specified in the CANopen interface block. This is typically 10 ms but can also be 5 ms, 20 ms, 40 ms, or 80 ms.

  • Page 103: Figure D-8 Frame Time Diagram

    0x1E0 PDO5 Position Feedback 1/2 Async Position Feedback 1 float 203B Position Feedback 2 float 203C 0x2E0 PDO6 Act Ohms and Calibration Async Actuator Ohms uint16 2306 uint16 Calibration Status 2307 uint16 Operational Status 2308 uint16 Active Position Demand 2309 Woodward...
  • Page 104 Calibration Currents 2 Min Position Current float 2311 Max Position Current float 2312 0x260 PDO5 Calibration Manual Position Input float 2313 Calibration Status Request uint16 230F Calibration Commands uint16 2310 Receive (Rx) PDO Definitions Data length must be sent as specified. Woodward...
  • Page 105 Bit7: Reserved. Sent as 0. Bytes 4-5: WTA Feedback 1 weighted average ratio. Data length: 2 bytes, byte1 is LSB, byte 2 MSB. Resolution: 16 bits Units: (0 to 65535) for (0 to 1) Scaling: Bytes 6-8: These bytes are unused. Woodward...
  • Page 106 Receive PDO 4 – Slow Message: #3 Current at Minimum and Maximum Position Message type: “ASYNC” COB Id: 1280+Node Id (0x500+NodeId) Data length: 4 bytes Data: Byte 1-4: Minimum Position Current Data length: 4 bytes, Float. Units: Range: -250 to 250 mA Woodward...
  • Page 107 Resolution: 16 bits Units: Scaling: (0 to 65535) for (-10% to 110%) Byte 3-4: Actual Current Data length: 2 bytes, byte1 is LSB, byte 2 MSB. Resolution: 16 bits Units: Amps Scaling: (0 to 65535) for (-250mA to 250mA) Woodward...
  • Page 108 Transmit PDO 3 – Slow Message #1: Analog/CANopen Position Demand Message type: Transmitted after receipt of Receive PDO 2. COB Id: 896+Node Id (0x380+NodeId) Data length: 8 bytes Data: Byte 1-4: Analog Demand Data length: 4 bytes, Float. Units: Woodward...
  • Page 109 Units Ohms Byte 3-4: Calibration Status Data length: 2 bytes, Enum Units: Values: 0 – Not Calibrated 1 – Waiting for Minimum 2 – Waiting for Maximum 3 – Verifying Calibration 4 – Manual Stroking 5 – Calibration Complete Woodward...
  • Page 110 Bit 6: Demand Tracking Alarm Bit 7: CANopen Demand Alarm Bit 8: Driver Overcurrent Fault Bit 9: Analog Demand Alarm Bit 10: Driver Current Fault Bit 11: Driver Short Fault Bit 12: Driver Open Fault Bit 13: Excitation Fault Bit 14-15: Not Used Woodward...

  • Page 111: Revision History

    Changes in Revision T— • Updated ATEX to comply with EN60079-0:2012/A11:2013 and EN60079-15:2010 • Removed LCIE as the notified body • Updated Declaration of Conformity Changes in Revision R— • Updated table in Appendix B • Updated Declaration of Conformity Woodward...

  • Page 112: Declarations

    Released Manual 26236 SPC Servo Position Controller Declarations Woodward...
  • Page 113 Email and Website—www.woodward.com Woodward has company-owned plants, subsidiaries, and branches, as well as authorized distributors and other authorized service and sales facilities throughout the world. Complete address / phone / fax / email information for all locations is available on our website.

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