software for control cube - bills for control cube modular digital servo-controller control and...

Software for Control CubeModular digital servo-controller

Control and Software for your servo-hydraulic test systems


CUBUS OVERVIEW

in a single integrated application.

Feature rich software

This feature rich package provides all therequired functionality for configuration andexecution of tests using the modular digitalservo-controller Control Cube

Auto-detect

On starting up Cubus, it automatically detectswhich hardware it is connected to via theEthernet interface, displaying detectedhardware ready for configuration

Field of application

Cubus covers the entire range of applicationsin the Systems Testing market, which:

Provides for 1 to 32 actuators Is aimed at testing of full-scale structures,

sub-assemblies and componentspecimens

Provides a single integrated application forall functionality

Allows management and configuration ofall hardware resources

Provides management, editing, executionand quality control of all tests

Provides data acquisition and analysis

Control and Software for your servo-hydraulic test sys

tools.

What is Cubus?

Cubus is a modular software environmentaimed specifically at single- and multi-axisservo-hydraulic test rigs, includingconfiguration, control, acquisition and analysis

tems


A) When purchasing a Control Cube servo-controller, it will be delivered inclusive ofthe Cubus

lightBase software. This is

required to configure and set up the Cubeand also allows simple cyclic tests.

The Cubus softwhosting plug-inadvantage thabecome optionacustomer require

When openingsoftware is specspecific type ointerface and dsoftware plug-ins

A wealth of funwith the optionaThese add manfeatures to enhaof use of Control

OPTIMISED CUBUS PLUG-IN SOFTWARE ARCHITECTURE

Cubuslight Base Software

Cubuslight

Configuration moduleBase Software to configure Servo-controller

Cubuslight

Cyclic test
Base software for simple cyclic tests
B) Optional Cubus test programs

Advanced cyclic test

Block program

Advanced ramp test

Control and Software for your servo-hydraulic

External test

are structure is based on aarchitecture. This has the

t software plug-ins canl depending on what thes.

a Cubus test program, theially customised to execute af test. This simplifies theisplays only the necessary

ctionality can be unlockedl Cubus plug-ins / features.y useful and easy to usence the capability and easeCube and Signal Cube.

C) Optional Cubus Plug-ins / features

PID Plug-ins− Auto-tune − Adaptive PID control − Integrated PID tuning facility

Data Plug-ins− XY-chart − Data export − Data display − Time history, Turning points acquisition

Multi-channel Plug-ins− Hydraulic grouping − Master and individual span − Multi-channel mode & setpoint

Procedures− Procedure editor − Event / Action matrix

General− Event log, Virtual channels − Password security − Transducer linearization − Simulation / demo mode − External analogue command and monitor

test systems


The single Cubus platform is used to configure and control three hardware platforms:

CUBUS SUPPORTS MULTIPLE HARDWARE

and acquisition system
Control Cube
Control and Software for your s

Modular digital servo-controller

(previous generation)

Signal CubeModular signal conditioning

K7500Digital servo-controller

ervo-hydraulic test systems


CUBUS – 3 SIMPLE MODULES

Cubus is organised into three modules:

RigConfiguration of the test rig andsetup of all controller parametersand settings

DataAcquisition, Data view and Dataexport

TestDefinition and execution of the test

This organised structure makes it easyand fast to find any functionality withoutthe need to search through multiplelevels of menu items.

Each module consists of a number ofPlug-ins. Depending on which Projecttype is loaded, the Plug-ins in eachmodule may be different. Only thoseplug-ins which are relevant to theparticular Project type are included.

RigSystemActuatorsTransducersHydraulicsLimitsPIDSetpointMonitor

DataExportPlotAcquisition

TestEdit


Run



Actuators− Configuration of servo-valve − Current or voltage driven valves − Setup of maximum actuator limit in Setup mode

Transducers− Configure Polarity, Bipolar, Asymmetric, AC/DC − Calibration: Excitation, Sensitivity, − Transducer linearization through 257 point lookup table − Virtual (computed) channels

Hydraulics− Three relays (Pilot, Low, High) − Three acknowledge contacts − Hydraulic grouping for multi-Cube rigs in Master / Slave

Limits− Inner and outer limits − Following error limits − Selectable limit actions

PID− Selection of actuator and control mode − Automated configuration of Oscilloscope and integrated

function generator− Smooth slider adjustment of gains − Integrated tuning facility − Auto-tune − Adaptive tuning

Setpoint− Adjust actuator setpoint − Configurable rate − Transducer zero facility

RIG MODULE PLUG-INS

TOOLS Strip chart Digital displays Project management Preferences Language support



CLEAR INFORMATION IS ALWAYS VISIBLE

Pressure stateThe hydraulic toolbar provides a clear indication ofthe current pressure state on each Cube

Active control modeThe mode toolbar always shows the active controlmode as well as modes which may not be accessibledue to safety interlocking

Test status and progressThe current test state and progress within the test isdisplayed in the test status area

Tripped limitsWhenever limits have tripped, this is brought to theattention of the operator, who can Reset or checkdetails of the limits

Emergency Stop buttonThe state is indicated by an icon on the left of theInfobar

Transducer readings− Real time digital displays showing calibrated

readings in engineering units− The user may add as many digital displays as

desired onto the Info bar.− Select the number of significant digits − The reading of any transducer, command or

virtual channel may be displayed in real time. Inaddition, the Direct, Range, Amplitude, Mean,Max, Min, Peak or Trough readings may beselected.


Control and Software for your servo-hydraulic tes

INTEGRATED PID TUNING WITH AUTO TUNE AND ADAPTIVE LOOP OPTIMISATION

Integrated loop tuning facility

The Cubus integrated Control Loop Tuning plug-infacility greatly enhances this task. It allows the userto enter nominal starting values for PID terms. Theresponse may be checked by simply selecting theactuator and the associated feedback control modeand the Tune button configures the integratedfunction generator and strip chart. It provides anintegrated facility for manual refinement of thecontrol loop parameters. Performance can bechecked by running a square, sine or triangularwaveshape

Auto-tune

Simply select Auto-tune to optimise the controlloop parameters for you. Auto-tune also offersadvanced configuration settings should thesebe required.

Adaptive loop optimisation

Optionally, the Auto-tune may be left activealso during test execution, thereby allowingcontinuous compensation for changes in the

t systems

specimen stiffness.


Control and Software for your servo-hydraulic te

TEST PROGRAM Associated Loading Description

1 Cyclic constant amp Sine, square, triangleSignal generator: Enter amp, mean, waveshape, number of cycles.

2 Variable amp block Cyclic, ramp, dwellBlock program loading includes trapezoid andaction elements

3 Advanced ramp RampsAdvanced ramps with cross mode targets andevents

4 External test Time History Data FilesSequencing of THDF’s obtained from serviceload simulation or imported or generated

CUBUS TEST PROGRAMS

TEST PROGRAM 1 - CYCLIC

Cyclic const amp

Simple Cyclic

This test program comes asstandard with Cubus

light

− Selection of test mode − Amplitude, Mean / Upper, Low

level− Fade in to mean duration − Number of fade-in, fade out

cycles− Wave shape: Sine, Square,

Triangle− Number of test cycles

All tests follow this convenient project approach.

In addition, the Configuration is also accessed viathis Project route, as is access to the Graphics for
pure analysis without hardware
st systems

er

Advanced Cyclic

Contains the same functionality as theSimple Cyclic, with the followingadditions:

− Wave shape: Sine, Square, Triangle, Trapezoid, Saw tooth

− Peak adaptation − Cross mode adaptation, e.g.

control in displacement mode toachieve load peaks

− Tolerance bands ensure that the peaks and troughs are not over- orunder achieved, enabling actions

Pre-packaged test programs

The Cubus test programs are each focussed on asingle specific task, defined by the test type. Thisgreatly eases the definition and execution ofspecific tests, thereby simplifying the use for theoperator

Project approach

A new test can be created, which is saved andmay be accessed at any point in the future formodification, re-execution or analysis of results.

to be taken if they are exceeded



TEST PROGRAM 2 – BLOCK PROGRAM

Variable amp. block

Graphical test editor

− This is an integrated graphical display of the test elements and their sequence

− Simply insert elements into the test sequence

− Sub sequences allow nested looping and user defined repeats of sub sequences

− Test position within the sequence may be changed

Test run

− The current active test element is continuallydisplayed graphically

− Test progress is indicated by the tree view

Test elements

− Available elements: Ramp, Dwell, Cyclic, sequence and acquisition elements − Ramp: Target, Control mode, Duration or rate (single channel) and wave shape − Dwell: Duration − Cyclic: Amplitude, Mean, Control mode, Harmonic, Start at peak/mean/trough, Fade in/out, Number of fade

cycles, Ramp to mean duration, Number of test cycles, Peak adaptation− Acquisition: Select channels, sample rate, position to start and end within test sequence.



TEST PROGRAM 3 – ADVANCED RAMP TEST

Graphical test editor

− Just like the block program editor, this is an integrated graphical display of the testelements and their sequence

− Simply insert elements into the test sequence

− Sub sequences allow nested looping and user defined repeats of sub sequences

− Test position within the sequence may be changed

Test run

− The current active test element is continuallydisplayed graphically

− Test progress is indicated by the tree view and the testprogress indicator

Test elements

− Available elements: Advanced Ramp, Dwell, Sequence and Acquisition elements − Advanced ramp: Target, Control mode, Duration or rate (single channel) and wave shape, Absolute or relative

target, Threshold violation from any transducer, Hold at end of Ramp− Dwell: Duration

Advanced ramp



TEST PROGRAM 4 – EXTERNAL TEST

External test

− External Test, allows Control Cube to be driven externally, i.e.not using the controller’s internalfunction generation capability

− The command source may be either an external analogue orcomputer drive.External test

®

External analogue command

− External analogue allows the test to be driven from an external ±10 Voltcommand signal

− The external source could be an external computer drive or a functiongenerator.

− This is usually combined with the analogue monitor outputs, whichprovides a complete analogueinterface to Control Cube from anexternal system

External computer drive

− This allows a test to be driven from the CNet bus and is used tointerface to QanTiM and Dura

Span

− Both of the above options also provide the ability to scale down thecommand on either the Master span– for the entire rig, or individually peractuator


Several Tab Plug-ins enhance the features ofCubus, for example:

Event log

Strip chart

XY-Chart

Digital displays / meters

CUBUS TAB PLUG-INS


TAB – EVENT LOG

The Event Log keeps a record of all events onthe Cube

Typical events which are logged include Pressurestate changes, Test Start / Stop events, Testcomplete with cycle count, Limit trip events etc.


TAB – STRIP CHART

The Strip chart tab provides 4 user configurabletraces. Any signal, real time transducer reading,command, virtual transducer etc. may bedisplayed

Full scaling in time and vertical axes isavailable. The settings may be saved to file andsubsequently recalled at a further time. Anynumber of settings files may be saved


TAB – XY-CHART

The XY-Chart is useful for displaying twosignals against one another in real time

Auto-or manual scaling is available. Historical dataon the chart may be cleared at any time



PROCEDURES and EVENT / ACTION MATRIX

Allows creation of pre-defined procedures whichthe system will execute when a specified event(defined in a test or in the event/action matrix)occurs. Procedures may be built up of individualProcedure-elements. Typical procedure-elementsare for example:− Asynchronous global event − Control mode change − Event log entry − Hydraulic pressure change − Message dialogue − Setpoint − Setting a digital output − Responding to a digital input

In the example below, the actuators will moveto predefined setpoint values, delay and thendisplay an operator message



United KingdomCaTs

3Limited

21 Lindisfarne DriveKenilworthWarwickshireCV8 2PQUnited KingdomTel +44 1926 858 070web: www.cats3.netemail: [email protected]

Germany, Austria, SwitzerlandZwick GmbH & Co KGAugust Nagel Str. 11Ulm D-098079GermanyTel +49 7305 10-0web: www.zwick.deemail: [email protected]

ItalyZwick Roell Italia S.r.l.C.so Perrone 39 h rossoI - 16152 GenovaItalyTel +39106511169web: http://www.zwickroell.itemail: [email protected]

CaTs3

Limited21 Lindisfarne DriveKenilworthWarwickshireCV8 2PQUnited Kingdom

FranceZwick France S.a.r.l.F-95971 Roissy AirportFranceTel +33 1 48 63 21 40web: www.zwick.fremail: [email protected]

AustraliaHylec Controls Pty Ltd8 Melissa StreetAuburnNSW 2144AustraliaTel +02 9645 4777web: www.hyleccontrols.com.auemail: [email protected]

Zwick Testing Machines LimitedSouthern AvenueLeominster, HR6 OQHHerefordshireUnited KingdomTel +44 1568 615 201web: www.zwick.co.ukemail: [email protected]

RussiaEVAMalaya Nikitskaya 14-4121069, MoscowRussiaTel +790 354 52252email: [email protected]

WORLDWIDE

web: www.apollosci.co.za

PolandZwick Polska-Serviceul. Żeligowskiego 32/3490-643 ŁÓDŹ PolandTel + 4842 662 10 40web: www.zwickpolska.com.pl

Tel +44 (0)1926 - 858 070

Website: www.cats3.netEmail: [email protected]

Incorporated in EnglandCompany Reg No. 515 2172

South AfricaApollo Scientific13 Indianapolis StreetKyalami Business ParkKyalami, 1684South AfricaTel +2711 466 7666

http://www.zwick.fr/

mailto:[email protected]

http://www.hyleccontrols.com.au/


http://www.zwick.co.uk/


http://www.cats3.net/


http://www.apollosci.co.za/

http://www.cats3.net/


http://www.zwick.de/


http://www.zwickroell.it/


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