P-I Servoamplifier

G122-829A001
Application Notes Cover
release
tab (4)
1 Scope Top vents
Screw
These Application Notes are a guide to applying the terminals
G122-829A001 P-I Servoamplifier. These Application Notes 25 26 27 28 29 30 31 32 17 - 32
can be used to:
  Determine the closed loop structure for your application.
17 18 19 20 21 22 23 24
  Select the G122-829A001 for your application. Refer also DIN rail
to data sheet G122-829.
MOOG
  Use these Application Notes to determine your system feedback valve
configuration. gain
enable
zero
  Draw your wiring diagram. inp.1 scale
  Install and commission your system. dither P gain
Vs in posn. I gain
Aspects, such as hydraulic design, actuator selection, feedback
bias
transducer selection, performance estimation, etc. are not controller
covered by these Application Notes. The G122-202 Application
Notes (part no C31015) cover some of these aspects. Moog
Application Engineers can provide more detailed assistance, 1 2 3 4 5 6 7 8
if required.

2 Description 9 10 11 12 13 14 15 16 Screw
terminals
The G122-829A001 is a general purpose, user configurable, 1 - 16
Bottom
P-I servoamplifier. Selector switches inside the amplifier enable vents DIN rail
either proportional control, integral control, or both to be release
selected. Many aspects of the amplifier’s characteristics can clip
be adjusted with front panel pots or selected with internal Cooling
switches. This enables one amplifier to be used in many airflow
different applications. Refer also to data sheet G122-829.

3 Installation
3.1 Placement
A horizontal DIN rail, mounted on the vertical rear surface
of an industrial steel enclosure, is the intended method of
mounting. The rail release clip of the G122-829A001 should
face down, so the front panel and terminal identifications
are readable and so the internal electronics receive a cooling
airflow.
An important consideration for the placement of the module
is electro magnetic interference (EMI) from other equipment
in the enclosure. For instance, VF and AC servo drives
can produce high levels of EMI. Always check the
EMC compliance of other equipment before placing
the G122-829A001 close by.

3.2 Cooling
Vents in the top and bottom sides of the G122-829A001 case
provide cooling for the electronics inside. These vents should
be left clear. It is important to ensure that equipment below
does not produce hot exhaust air that heats up the G122-829.

Page 1 of 6: C70861 Rev E – 07.14

3.3 Wiring 5  Set-up adjustments
The use of crimp “boot lace ferrules” is recommended for the
screw terminals. Allow sufficient cable length so the circuit
card can be withdrawn from its case with the wires still
connected. This enables switch changes on the circuit card
to be made while the card is still connected and operating.
An extra 100mm, for cables going outside the enclosure,
as well as wires connecting to adjacent DIN rail units,
is adequate.
The screw terminals will accommodate wire sizes from
0.2mm2 to 2.5mm2 (24AWG to 12AWG). One Amp rated,
0.2mm2 should be adequate for all applications.

Enclosure Wires

Grounded EMI To access the circuit card switches, the circuit card must be
cable gland
100mm Loop withdrawn from the case. See paragraph 17.

SW1 and 6 switch positions

shown in on position
Cable

ON
shown in off position
Radial screen
termination

Preferred Wiring
Trimpots are all 15 turns.
Enclosure Cable Plug-in resistors are all “quarter watt” 1% metal film. Two
suitable types are Beyschlag MBB0207 and Roderstein
MK20207.
Cable gland
100mm Loop The amplifier is shipped in the following default state.
 top board switches
SW1  1 5mA off
2 10mA off
3 20mA off
Cable 4 30mA off
5 50mA on
Wire soldered SW2 OUT I
to screen SW3 STEP not applicable
or
Drain wire. SW4 1 P-E E
(Heat shrink to
cover the screen) 2 CMD LAG off
SW5 1-4 IN 2 V
Alternative Wiring
SW6 1 Pin 8 on
3.4 EMC 2 PR on
3 I Lim off
The G122-829A001 emits radiation well below the level called 4 INT off
for in its CE mark test. Therefore, no special precautions are SW7 1-2 4-20mA out off
required for suppression of emissions. However, immunity from
 bottom board switch, shown as [ ]
external interfering radiation is dependent on careful wiring
techniques. The accepted method is to use screened cables for [SW1] 1 spare off
all connections and to radially terminate the cable screens, in 2 ENABLE on
3 DITHER off
an appropriate grounded cable gland, at the point of entry into
4 4-20mA (fdbk) on
the industrial steel enclosure. If this is not possible, chassis
ground screw terminals are provided on the G122-829A001.   R27: 10k (summing amp gain = 1)
Exposed wires should be kept to a minimum length. Connect   R17: 100k (P gain range 1 to 20)
the screens at both ends of the cable to chassis ground.   R34: 100k (input 2 to error amp)
  R33: not fitted (input 3 to output amp)
4  Power supply
  R16: not fitted (feedback derivative)
24V DC nominal, 22 to 28V   Feedback gain and zero pots: configured for 4-20mA input
75mA @ 24V without a load, 200mA @ 100mA load.
  Dither level pot: fully counter clockwise (FCCW)
If an unregulated supply is used the bottom of the ripple   Scale pot: FCCW
waveform is not to fall below 22V.   P gain pot: FCCW
It is recommended that an M205, 250mA T (slow blow) fuse,   I gain pot: FCCW
compliant with IEC127-2 sheet 3, be placed in series with the   Bias pot: 0V
+24V input to protect the electronic circuit. If terminal 23 is
used to power a proportional valve, the fuse should be
increased to cater for the extra current.
Page 2 of 6: C70861 Rev E – 07.14
Caution 6.2  Input 1
If you intend to use the feedback amplifier adjusted for An input to the error amplifier: This input is ±10V
4-20mA, don’t change the feedback gain or zero. non‑inverting and has two important features:
  They are already adjusted for 4-20mA   It has a scale pot on its input that enables large inputs to be
  To re-adjust for 4-20mA takes a little time, needs test scaled down to match smaller signals on other inputs. Scale
equipment and is tedious to do in the field. range is 10 to 100%. Set fully clockwise (FCW), an input of
100V can match a 10V signal on the other inputs. Note that
6  Input configuration the maximum permissable input voltage is ±95V.
  It has a switch selectable (SW4:2) lag of 55mS that can be
Inputs 1, 2 and feedback go to the error amplifier and can be used to remove transients from the input signal that could
used for feedback or command. Care needs to be taken in cause unwanted rapid movement in the output.
selecting signal polarity to achieve negative feedback for
Input 1 is well suited to be a command because of these two
the overall closed loop. Since the input error amplifier sums
features. If input 1 is used for feedback, be sure the lag is
the signals, the transducer feedback signal needs to be the
switched off. Input resistance after the scale pot is 94k Ohms.
opposite polarity of the command. This can be achieved in
two ways: 6.3  Input 2
  Arrange for an opposite polarity feedback transducer signal
and connect it to input 1, input 2 or the positive feedback An input to the error amplifier: This input is differential, with
amplifier input. non-inverting and inverting inputs. It is switch selectable (SW5)
between 4-20mA and ±10V. The 4-20mA converter produces
  If the feedback transducer signal is the same polarity as the
0 to +10V for 4 to 20mA input to terminal 7. R34 connects
command, you only have one option: Connect it to the
from the output of the amplifier to the input of the error amp.
negative input of the feedback amplifier.
It is a plug-in resistor with a default value of 100k Ohms,
6.1  Feedback input giving a nominal ±10V input signal range when V is selected.
Input 2 is suitable for command or feedback. R34 can be
An input to the error amplifier: The feedback amplifier is the increased to give a larger input range.
best choice for the feedback signal, for six reasons:
Terminal 8, the inverting input, can be connected to ground
  It leaves input 1 available for command. See 6.2 below. with SW6:1.
  It has inverting (negative) and non-inverting (positive) inputs.
  It has zero and gain adjustment pots. This enables a signal 6.4  Input 3
that does not go to zero volts and has less span than the An input to the output summing and limiting amplifier via a
command, to be scaled up to the command. While this is plug-in resistor, R33. A typical use for this input is command
not essential, it helps when setting up and trouble-shooting.
feed forward or closing the outer loop of a three stage valve.
  There is a front panel test point for the zeroed and amplified With R33 at 10k Ohm, a ±10V input will produce ±100% valve
signal. This is very convenient (essential) for setting up and drive. Increasing R33 reduces the valve drive.
trouble-shooting.
The summing amp gain can be changed with plug-in resistor
  There is the option of a plug-in resistor, R16, to give a
R27. This is useful if input 3 is being used to close the outer
feedback derivative (lead or D) in the output of the feedback
loop of a three stage valve.
amplifier.
  It can be set up for a current input by connecting a 240 Ohm 7  Output configuration
resistor between terminals 17 and 18 with the 4-20mA
switch ([SW1:4]). Select the output to match the input requirements of the valve
(SW2).
Default   When voltage (V) is selected, ±10V is available into a
The feedback amplifier default set-up is 4-20mA flowing into minimum load of 200 Ohm.
terminal 18 and out of terminal 17, producing an output of   When current (I) is selected, the current level switches
0 to -10V. Reversing the terminals, and hence the current flow, (SW1:X) enable ±5 to ±100mA to be selected. The switch
will not result in a 0 to +10V output. The feedback zero must selections sum, so, if for instance 45mA is required, select
be adjusted for this arrangement. 30,10 and 5. The output can drive all known Moog valves
up to ±100mA. The maximum load at I (Amp) output is:
Adjusting feedback amp for 4-20mA input and
  RL max = 11V – 39 Ohm
0 to -10V output
( I (Amp) )
  Set the feedback gain to minimum (fully counter clockwise). eg. at 50mA RL max is 181 Ohm
The trimpot has 15 turns and will click when minimum is
  When 4-20mA is selected, the output V/I switches must be
reached.
in I and the output current SW1 must have switch 3 selected
  Connect terminal 17 to terminal 26 (ground). for 20mA. Maximum load for 4-20mA output is 500 Ohm.
  Connect the positive of a variable DC power supply to The output amplifier is limited to approximately 105% of the
terminal 18 and the negative to terminal 26.
selected full scale output. If both the proportional and
  Connect a digital multimeter (DMM), on DC Volts, between integrator stages are saturated, the output will not be twice
the front panel feedback amp and ground test points. the selected full scale but still only 105% of full scale.
  Set the variable supply to 0.96V.
  Adjust the feedback amp zero trimpot until the DMM reads 8  Step push button
0.00V.
The step push button (SW3) injects -50% valve drive
  Set the variable supply to 4.80V.
disturbance into the output. When released, the valve drive
  Adjust the feedback gain trimpot until the DMM reads reverts to its original level. This feature is useful for closed loop
-10.00V. gain optimisation.
  Set the variable supply to 0.96V again and check the
feedback test point is still 0.00V. Trim if necessary and check
the 4.80V setting again.
Page 3 of 6: C70861 Rev E – 07.14
9 P-I selection 14 Dither
For position closed loops, initially select only P (SW6:2). For The dither frequency is fixed at 200Hz and the level is
pressure or velocity loops select I (SW6:4) initially and then P. adjustable with the front panel pot to ±10% of valve drive,
See paragraph 12 below for more detail. For a complete regardless of the type and level of valve drive selected. It can
discussion of P and I control, see the G122-202 servoamplifier be turned on or off with ([SW1:3]). Dither is seldom needed in
Application Notes (part no C31015). a position loop but can be beneficial in pressure or velocity
loops. Increase dither until it can just be detected in the
10  Integrator input controlled variable, such as pressure or velocity. Dither can
compromise valve life, so it should be kept to a minimum.
The servoamplifier has a unity gain input error amplifier
followed by two parallel stages, one a proportional amplifier 15 Enable
and the other an integrator. The outputs of these two stages
can be switched to the output power amplifier (see paragraph A relay on the circuit card needs to be energised to connect
7 above) which then drives the valve. the output stage to its screw terminal and to un-clamp the
integrator. The clamp prevents integrator wind-up when the
The input to the integrator stage can be switch selected loop is not operating. Supply 24V to the appropriate terminal
(SW4:1) from either the output of the error amplifier, I in = E, to energise the relay. The enable switch ([SW1:2]) on the circuit
or the output of the proportional stage, I in = P. The latter card can be set to permanently energise the relay and provide
arrangement is used in the G122-202. It is beyond the scope a permanent enable.
of these Application Notes to detail the benefits of each
arrangement. If you have experience with the G122-202, 16  In position
I in = P would seem to be an easy choice.
When the valve drive signal falls below ±10% of the selected
11  P only gain full scale signal, the “in position” signal goes true and provides
an opto-isolated current path between the + and – terminals.
For position loops select only P control (SW6:2). Input a step This can be connected to a PLC to initiate the next step in a
disturbance of 50% valve current with the step push button control sequence. Do not apply more than 40V to the +
(SW3). Adjust the P gain for the required stability, while terminal and ensure the load on the – terminal is less than
monitoring the front panel valve test point, or the feedback 20mA.
signal. The gain range of the proportional amplifier can be
moved by changing the plug-in resistor R17. The value loaded The “in position” signal is not relevant for a velocity loop.
when shipped is 100k Ohms, which gives a 1 to 20 range.
Selecting 200k Ohms will give 2 to 40. The circuit will function 17 Withdrawing the circuit card
correctly with the value of R17 between 100k Ohms and from its case
10M Ohms.
The circuit card needs to be withdrawn from its case to set the
Note that as P gain is increased, the movement due to the step selector switches, change the plug-in resistors and operate the
push button decreases. step push button.

12  P and I gains together To do this, push one cover release tab with a pen or
screwdriver, while gently pulling on the top cover on that side.
If you are inexperienced with integral control the following The cover will release approximately one mm. Repeat on the
set-up method is a good starting point. second tab on that side. Repeat on the other side and then
  I in = E: Initially select only I (SW6:4). Press the step push withdraw the cover and circuit card until the required switches
button (SW3). Increase I gain until one overshoot in the are exposed. The rigidity of the connecting wires will hold the
feedback signal is observed. circuit card in position while changes are made.

Next select P (SW6:2) and I (SW6:4) together and increase the

P gain to reduce the overshoot.
For the I in = E arrangement the P and I sequence could be
reversed. i.e.: adjust P first, followed by I.
 I in = P: For an I in = P arrangement, only the “P followed
by I” sequence of adjustment can be used.
For a more thorough discussion see G122-202 Application
Notes (part no C31015).

13  I limit
The contribution from the integrator to the output amplifier
can be reduced by selecting I limit on (SW6:3). When this
switch is on the integrator contribution is reduced to
approximately 15% of the level when it is off. This feature is
useful in a position loop that may require integral control to
achieve the required steady state accuracy. The limited integral
control removes valve null error when the final position is
reached. It is also useful in a pressure loop to limit overshoot,
if the valve drive saturates.

Page 4 of 6: C70861 Rev E – 07.14

18 Specifications
Function: P, I, or P & I, switch selectable. Dither: 200 Hz fixed frequency.
Input 1: Connects to error amp via 94k. ±10% valve drive. Switch selectable
Scaled to 95V max with switch on/off.
selectable lag of 55mS. Supply: Terminal 1,
Input 2: Differential 4-20mA or ±10V, 24V nominal, 22 to 28V
switch selectable. 75mA @ 24V, no valve current,
Connects to error amp via R34. 200mA @ 100mA valve current.
±15V max. ±15V output: Terminals 14 and 15,
R in = 390k – ±10V. ± (110mA – max valve current).
R in = 240R – 4-20mA. Wire size range: 0.2mm2 to 2.5mm2
R34 is plug-in, 100K (default). (24AWG to 12AWG).
Input 3: Connects to summing amp via R33. Recommended M205, 250mA T (slow blow) fuse
R33 plug-in. ±10V gives ±100% valve supply protection: compliant to IEC127-2 sheet 3.
drive when R33 = 10k Ohm, ±10% when If terminal 23 is used to power a
R33 = 100k Ohm. proportional valve, the fuse should be
Feedback input: Differential 4-20mA or ±10V, increased to cater for the extra current.
switch selectable. Mounting: DIN rail
±15V max. IP 20
R in 100k – ±10V.
Temperature: 0 to +40ºC
R in 240R – 4-20mA.
Dimensions: 100W x 108H x 45D
Feedback amp: Zero, ±10V.
Gain, 1 to 10. Weight: 180g
Derivative (velocity) feedback via CE mark: EN50081.1 emission
plug-in resistor R16 and fixed capacitor. EN61000-6-2 immunity
Transducer excitation: +10V @ 10mA max. C tick: AS4251.1 emission
Error amp: Unity gain.
Bias ±1.5V. 19 Internet
Proportional amp gain: 1 to 20 with R17 = 100k (default). www.moog.com/dinmodules
Max gain 2000 with R17 = 10M.
Integrator gain: 1 to 45 per second.
Integrator input: Switch selectable from output of unity
gain error amp or proportional gain amp.
Enable: Relay, +24V @ 8mA, 17 to 32V.
Output amp: Switch selectable voltage, current or
4-20mA, single ended output, return
to ground.
  V. ±10V, minimum load = 200 Ohm.
  I . ±5, 10, 20, 30, 50mA to a maximum
of ±100mA.
max load =
( )
11V – 39 Ohm
I (Amp)
  4-20mA. Max load 500R.
Step push button: -50% valve drive disturbance.
Valve supply: Terminal 23, 300mA max.
In position: ±10% of valve drive. 20mA and 40V max
output to PLC.
Front panel Vs, internal supply – green
indicators: Valve drive positive – red
negative – green
Enable – yellow
In position – green
Front panel Valve ±10V (regardless of output
test points: signal selection)
Feedback amplifier output
signal 0V
Front panel Input 1 scale
trimpots: Error amp bias
(15 turns) P gain
I gain
Dither level
Feedback amp gain
Feedback amp zero

Page 5 of 6: C70861 Rev E – 07.14

 Supply 250mA +24V Power Supply PLC
T fuse 1 LED 11
+24V +15V enable +24V +24V
2 enable +24V
0V Vs LED TP [SW1:2] 12 Enable
9 -Vr V
SW5:1 to 4 In Position
see note 1 -15V
V + Comparator
see note 1
240R 390K 100K lim 3 +
Input 2 bias
Integrator +24V
7 390K SW6:3
signal + R34
20  Block-wiring diagram

8 Integrator input 4
signal -

~
gain

Australia: Melbourne, Sydney, Brisbane  Austria: Vienna  Brazil: Sao

16 390K select In position
INT 10
Pin 8 10K
390K
SW6:1 Error Amp SW4:1 SW6:4
Input 1 scale Av=1 E P see note 1
signal 5
47K 47K PR
0Vref 6 10K P Gain Amp 10K 14
+15V
13 SW6:2
1K 15

Moog Sarl. France. Telephone: 01 45 60 70 00. Fax: 01 45 60 70 01.

cmd lag SW4:2 P gain -15V

Moog Australia Pty. Ltd. Telephone: 03 9561 6044. Fax: 03 9562 0246.
see note 1

Moog GmbH. Germany. Telephone: 07031-622-0. Fax: 07031-622-100.

R17 28
100K
Input 3 100K R16 R27
signal 21 N.F. 10K
feedback lead Step P.B. SW1-X 23 A
2.2uF
Sum & -50% V= 1V +24V
Transducer Limit Amp SW3
efb Valve
R33 + 200R 5mA
Excitation N.F. 39R 24 B Typical D66X
+10V 19 + Prop. valve
+10V 100R 10mA
- - 31 D

+
100K
Output Amp 51R 20mA
0V 20 dither
zero 32 E
Typical 27 + 33R 30mA
[SW1:3] TP
linear pot 100K valve 22 F spool
feedback see note 1 dither 20R 50mA
499R see note 2
+ 17 100K feedback 13
Dither SW2
[SW1:4] TP Av=10
Feedback Input 4-20mA
Oscillator V mfb Valve
see note 1

Ireland: Ringaskiddy  Italy: Malnate (VA)  Japan: Hiratsuka  Korea: Kwangju-Kun  Philippines: Baguio City  Singapore: Singapore  Sweden: Askim  USA: East Aurora (NY)
V Connect to
18 240R 100K 100K SW2 pins 31 & 32.
0Vref 26 gain 4-20mA LED SW2
SW7:1&2 V
25 Feedback Amp valve
-V

Industrial Controls Division. Moog Inc., East Aurora, NY 14052-0018.  Telephone: 716/652-3000.  Fax: 716/655-1803.  Toll Free 1-800-272-MOOG.
Note: 1. Connect cable screen to enclosure cable gland Note: 2. Connect spool (pin F) to terminal 22, Note: 3. Switches shown in default shipping mode.

Moog pursues a policy of continuous development and reserves the right to alter designs and specifications without prior notice. Information contained herein is for guidance only and does not form part of a contract.
or chassis ground terminal on G122-829 only if the spool signal is a current. Note: 4. [ ] indicates bottom board.

Paulo  Denmark: Birkerød  England: Tewkesbury  Finland: Espoo  France: Rungis  Germany: Böblingen, Dusseldorf  Hong Kong: Shatin  India: Bangalore

Page 6 of 6: C70861 Rev E – 07.14