4 Way Proportional Directional Valve RA Models 4WRD, 4 .
RA 29 093/06.984 Way Proportional Directional Valvewith positional feedback of main spoolModels 4WRD, 4 WRDE and 4 WRDU., (Series 5X)Sizes 10, 16, 25,32, 35 5100 PSI(350 bar)– Pilot operated 3-stage high-response control valve with electrical positional feedback of the control spool in the third stagePosition acquisition of the control spool via inductive positionaltransducer 792 GPM(3000 L/min)Replaces: 04.96H/A 2544Special featuresRA29 093/06.98– 2-stage pilot valve, model 4 WS 2 EM 6-1X– Particularly suitable for closed loop positon, speed, pressure andforce control with high requirements in dynamics and accuracy.– Mounts on standard ISO 4401-5, 7, 8 or 10, NFPA T3.5.1M R1and ANSI B 93.7 D 05, D 07, D 08 or D 10 interfacesSize 35 deviates from standard port dimensions4 WRDE– Integrated closed loop control electronics for complete valve4 WRDU– Integration of the positional transducer electronics – DCsignal output. The valve control circuit is closed via externalamplifier card. Use electronic amplifier, SR20 to 22 to data sheetRA 29 971 or VT1600 RA 29 716Model 4 WRDE 16.-5X/.4WRD– Non-integrated electronic valve. Use electronic amplifierVT1610 RA 29 717Table of ContentsContentsPageSymbols (simplified)1Symbols (detailed)2Functional description, section2 to 3Valve features3Ordering code4Technical data, general5Technical data, hydraulic5Technical data, electrical5Electrical connections6Terminal connections/block diagram of integrated electronics7ContentsPageOperating curves: Pressure gain Zero flow in main stage Flow / command signal function Spool response function Frequency response Flow / load functionUnit dimensionsPilot oil supplyExternal control electronics8889 to 139 to 139 to 1314 to 181920Symbols (simplified)AABModel 4 WRD.-5X/.BModel 4 WRD.-5X/.ET.0aa, bXYModel 4 WRD.-5X/.E.bPTAB0aa, bbPTABModel 4 WRD.-5X/.T.0aa, bYPbT0aa, bXPbT1/20
RA 29 093/06.98Symbols (complete)Example:Example:Model 4 WRD.-5X/.Model 4 WRD.-5X/.with. WG .1pilot valvesandwich plate directional valve as a safety device2sandwich plate directional valve3main valveABPTAB1a, bA1B2a, bPTABa0PX AbA1B1AB33bexternal pilotexternal drainTa0PPTX ABYexternal pilotexternal drainbTPTB YFunctional Description 2-stage servo pilot valveThe valve model 4 WS 2 EM 6. is an electrically operated 2-stageservo directional valve.The control operates on the principle of an electrically operatedflapper/nozzle configuration.The control spool (7) is connected to the torque motor (1) viamechanical feedback (6).The torque tube (3) centers the armature (2) and the flapper plate(4) into the neutral position, when the torque motor (1) is notenergized.When a torque imbalance occurs between the torque motor (1) andthe feedback spring (6), due to a change in the electrical signal, theflapper plate (4) is first of all offset from the central position betweenthe orifices (5). A differential pressure is thus generated and ispresent across the ends of the spool.Due to the effects of the pressure difference, the spool (7) changesthe position. The spool (7) continues to move, until the torques areonce more in balance, and the pressure difference is againreduced to zero.The stroke of the control spool (7), and therefore the flow within thepilot stage is proportional to the electrical input current (thecommand value).12SN345678PPBModel 4 WS2EM–1X/.2/20TPA
RA 29 093/06.98Functional Description, SectionThis signal moves the flapper plate (4) between the two orifices(5.1) and (5.2). A pressure difference is then generated betweencontrol chambers (15.1 and 15.2). Control spool (7) is then offsetand causes a corresponding flow into spring chambers (16.1)and (16.2).The main spool and the attached core rod of the positionaltransducer (12) is then moved until the actual value once moreagrees with the command value. In this new position, the forces areonce more balanced and the main spool (14) is held in thisregulated position.Valve models 4 WRDE/ WRDU are electronically operated 3-stageproportional control valves. They control the start, stop, directionand amount of fluid flow for smooth acceleration and decelerationof an actuator.These valves basically consist of:– the 2-stage pilot valve comprising the torque motor (1),a flapper/nozzle configuration and the spool-sleeve unit (10)which acts as flow ampifier stage for the control of the thirdstage (11).– the 3rd stage (11) which is used to control hydraulic flow.The spool stroke is proportional to the input signal.– an inductive positional transducer (12), the core (13) of whichis attached to the main spool (14) of the third stage (11).For controlling fluid flow, movement of the main spool causes thecontrol lands (17) to open proportionally.The frequency response of the valve is optimized electronically. Invalve model 4 WRDE, the control electronics are built into the valve(oscillator, demodulator).The position of the spool (14) is determined by an inductivepositional transducer (12). Signal connection in the valve closedloop control circuit, the supply of the position measuring systemand the control of the pilot valve are carried out via closed loopcontrol electronics integrated in the valve.For model 4 WRDU, the positional transducer electronics are alsointegrated in the valve, the valve control circuit is closed via anexternal amplifier card, model SR2.Any difference between the command value and the actual valueis then evaluated by the electronics and fed back as an input signalto the first stage.145.1975.21015.215.1A16.1E16.2CABB17X TEAPCDDBY14Model 4 WRDE 10.111312Null point settingSpecification of section see page 19Valve characteristics The control lands of spool and housing of V spools are matchedto each other.Any adjustment must be carried out by factory trained,experienced personnel. Null point adjustment is pre-set at our factory and has a toleranceof 10 % of the nominal stroke via a potentiometer in the closedloop control electronics. Maintenance work at the pilot valve may be carried out byMannesmann Rexroth personnel only. However, the replacement of filter elements (8) is excluded (order no. RR00 325 932),see fig. on page 2. Please note that the seals are seated correctlyand the cover screws are evenly tightened.The access to the integrated closed loop control electronics ispossible by removing a set screw at the front side of the coverhousing. In the case of a replacement of the pilot valve or the valve closedloop control electronics, these electronics must be re-adjusted.The tightening torque of the cover screws is 0.3 lb-ft (0.4 Nm) 10 %.3/20
RA 29 093/06.98Ordering Code4-wayZ96L–5X4 WRD* 4Servo pilotoperated, three stageproportional directionalvalve WRDwith integratedelectronic amplifierwith integratedactive positional transducerfurther details to bewritten in clear textno code O ringsR rectangular rings EM Buna-N sealssuitable for petroleum oils(HM, HL, HJLP)V Viton sealssuitable for phosphateester fluids (HFD-R) Usize 10 NFPA/ANSI D 05size 16 NFPA/ANSI D 07size 25 NFPA/ANSI D 08size 32 NFPA/ANSI D 10size 35 10 16 25 32 35no code without isolationsandwich platewith isolationsandwich plate12 VDC with Z4 plugwith isolationsandwich plate24 V DC with Z4 plugWG011 Symbols E E1–WG021 E3– W W1–Z9 K9 W3–no code E ET V V1–T Q2–series 50 to 59(50 to 59, externally interchangeable)QP B: –2A T: QmaxHigh Flow-designonly with size 25 and with nominal flowof 132 GPM (500 L/min)) L-type: E, E1, V, V1, W, W1 (available)P-type: Q22) L-type: E, E1, V, V1, W, W1P-type: E, Q2, V, W 5X3) L-type: E, E1, E3, V, V1, W, W1, W3Note:With spools W, W1- a residual connection exists from A T and B Tof approximately 3% of nominal opening in the neutral position (0).4/20servo valve pilot size 6 (D 03)1 L PSymbols for spools E3– and W3–:B T: closedvoltage supply 15 VDC 24 VDC6L no code H Symbols for spools E1–, W1– and V1–:QP A: QmaxB T: –2QP B: –A T: Qmax2P A: Qmaxexternal pilot, external draininternal pilotexternal draininternal pilotinternal drainexternal pilotinternal drain15 24 Flow GPM (L/min) at 145 PSI (10 bar) pressuredrop across the valvesize 10 6.6 (25)1) 13.2 (50)2) 26.5 (100)3)size 16 33 (125)2) 52.8 (200)3)2size 25 5.8 (220) ) 93 (350)3) 132 (500)3)size 32 158.5 (600)3)size 35 264 (1000)3)nominal flow curveLinearModified linear with fine control rangefor special applicationselectrical connectionsMating plug (size 14-6S)Without mating plugP-type: E, V, W, Q2
RA 29 093/06.98Technical data (For operation outside these parameters, please consult us!)GeneralInstallation positionAmbient temperature rangeWeight F ( C)lbs(kg)Size 10Size 16 Size 25Optional, preferrably horizontal0 . 140 (0 . 60)14.919.533.4(6.8)(8.9)(15.2)Size 251)Size 32Size 3534.1(15.5)77.5(35.2)156.4(71)Hydraulic, measured at p 1450 PSI (100 bar), n 150 SUS (32 mm2/s) and t 104 F (40 C)Operating pressure: – Pilot valvePSI (bar) 435 . 4600 (30 . 315)– Main valve with internal pilotPSI (bar) 435 . 4600 (30 . 315)with external 0)(210)(350)(350)Return pressure:– Port T with internal pilotPSI (bar) Static 145 (10)with external 0)(210)(250)(250)– Port YPSI (bar) Static 145 (10)Nominal flow QN 10 % at p 145 PSI (10 bar) 000)Flow in main valve (max. )(170)(460)(870)(1000)(1600)(3000)Input signal from 0 to 100 % 4600 PSI (315 5)(18.2)(24.2)Hydraulic fluidPetroleum oils (HM, HL, HLP) to DIN 51 524Fluid cleanlinessMaximum permissible degree of contamination of fluid toISO 4406 class 16/13 (pilot stage) and ISO 4406 18/15 forthe main stage. We recommend a filter with a minimumretention rate of ß5 75 (pilot), ß15 75 (main).Fluid temperature range F ( C) 50 176 (10 80); preferrably 104 122 (40 50)Viscosity rangeSUS (mm2/s) 97 . 1760 (20 380); preferrably 140 208 (30 45)Hysteresis% 0.2Response sensitivity% 0.1ElectricalValve insulation to DIN 40 050Voltage typeDCSignal typeAnalogNominal current per coilmAResistance per coilΩInductancemHNull calibration%Null offset with change in:Fluid temperature%Operating pressure%Return pressure 0 to 10 % of p%LVDT strokemmLVDT typeControl electronics (servo amplifier):– For Model 4 WRDE– For Model 4 WRDU– For Model 4 WRD1)Model 4WRD.25.500 –5XH/6L.Z9 (High Flow Design)exceeds NEMA class B (IP 65) 15 or 24 (See page 6)301000.19 2 0.7 / 68 F (20 C) 0.5 / 1450 PSI (100 bar) 0.2 3.5 5 6 6 9DK10DK10DK10DK20DK20VT 13000 (integrated in valve, see page 7)SR 20SR 21SR 22SR22SR 23VT1600 (specify value size, series)SR11 or VT1610 (specify valve size, series) 12DK20SR 24Separate order; see page 20 or data sheet RA 29 9712) QN Nominal flow (complete valve) in GPM (L/min) in V spool p valve pressure drop in PSI (bar)5/20
RA 29 093/06.98Electrical connectionsModel 4 WRD and 4WRDUTerminal connections on pilot valve, 4 WS 2 EM 6.Mating plug to VG 095 328, size 10-6S, PT06A-10-6S (SR) for pilot valve RR00 005 414Bridge E–F is connected in the valve which may be used for the electrical detection of the correct plug connections and fordetection of cable breaks.Electrical control from D ( ) to A (–) produces a flow from P to B and A to T in the main stage.4 WRD and 4 WRDU pilot valveBlue4 WRD feedback at connection housingBRedABFCECoil ADACoil BBrownCFRedLVDTEDBlackRedBlue4 WRDE pilot valve mating plug ITT Cannon SSR4( 1 A, 2 B, 3 C, 4 D) is prewired to connection housingMating plug to MS 3106E 14S-6S for feedback.Plug connections at valve connection housingPin connections of mating plug to MS 3106 E14S-6S4WRDE 15 V 1)4WRDE 24 V 2)4WRDU 15 V 3)4WRDU 24 V 4)Actual signal 10 V ( M.0)Actual signal 10 V ( 0 V)Actual signal 10 V ( M.0)Actual signal 10 V ( 0 V)Not connectedSupply 15 VSupply 24 VSupply 15 VSupply 24 VNot connectedSupply– 15 VSupply0VSupply– 15 VSupply0VNot connectedM.0Enable 5) 24 V DCM.0Not connectedLVDT (brown)4WRDAFBCEDDifferential commandsignal input 10 V 6) 7)Not connected!LVDT (red)Differential command signal input 0 VNot connected!LVDT (black)1)Supply voltage 15 V 1 %; regulated; Imax 120 mA2)Supply voltage 24 V 4 V; regulated; Imax 270 mA3)Supply voltage 15 V 1 %; regulated; Imax 70 mA4)Supply voltage 24 V 4 V; regulated; Imax 200 mA5)Using a voltage of 4 V to 24 V DC the valve closed loop control circuit is activated. If enable is low (0 V) while the valve has pressure,the spool will shift to the end position causing maximum velocity. Use a WG011 or WG 021 isolation valve option to centerthe main spool.6)A positive command signal at D with respect to E produces a flow from P to A in the main stage!7)Current input 10 mA optional, input resistance 1 kΩ; state SO 280 in ordering code6/20
RA 29 093/06.98Terminal connections and block circuit diagram of the positional transducermodel VT 13000 / 4 WRDUInductive positionaltransducer(differential transformer)Oscillatorred MatchingamplifierActual positionvalue ( 10 V)0Vbrown 15 24 V 24 VDemodulatorFA 15– 15BM0blackABCR21Null pointR20SensitivityTerminal connections and block circuit diagram of the valve electronicsmodel VT 13000 / 4 WRDEDither D0 V reference potentialECommand value 10 VRegulatorVServo valveABR7 CurrentRegulatorIVVReference potential on E andpositive command value on Dgive flow P to A in the mainstage of the 4 WRDE valveCDR8R5CommandvaluereductionNull pointInductive positionaltransducer(differential transformer)Oscillatorred Actual positionvalue ( 10 V)AB0VCEnable4 24 V 15– 15M0DemodulatorFbrown 15 24 V 24 VMatchingamplifierABR21Null pointblackR20SensitivityC7/20
RA 29 093/06.98Characteristic curves, all sizes: measured at ps 1450 PSI (100 bar), ν 150 SUS (32 mm2/s)and t 104 F (40 C)Pressure gain (V-spool) pLin %ps(2)Flow in GPM (L/min)10080604020–5 –4 –3 –2 –11 2–20Neutral position flow of the main stage (V-spool)(without pilot valve)34 5UEin 1)–80–1000.02502.52 1.5 10.5 0 0.5 1UEin %UEN1.5 22.5Flow/command value function: measured at 145 PSI (10 bar) valve pressure differenceor 72 PSI (5 bar) per control landSpool with linear characteristic curve (L)10080806060Flow in %Flow in %Spool with stepped characteristic curve (P)100V-spool40V-spool40E- or W-spoolE- or W-spool202010020406080Command value in %100020406080Command value in %Spool with Q2–symbol100A TFlow in %8060P A402001008/20B TP B80604020020Input signal voltage in %406080100100
RA 29 093/06.98Spool response time with stepped electrical input signalssignal change in %0 –100100Stroke in %Size 10750 – 75500 – 50250 – 250measured at ps 2030 PSI (140 bar),an oil viscosity of ν 150 SUS (32 mm2/s)and t 104 F (40 C)020Time in ms101020Frequency response curves: measured at ν 150 SUS (32 mm2/s) and t 104 F (40 C)Size 10 5270–10180Phase lag in degreesAmplitude response in dBpilot pressure ps 2030 PSI (140 bar)0– 3– 5–1590–20–25–301251020Frequency in Hz500200100Flow in GPM (L/min)Flow / load function at max. valve opening (tolerance 10%)(170)44(100)26.5(50)13.2(20)5.5Signal 5%Signal 25%Signal 100%Size 10When using spool types E, W, Q2 theflow must be corrected in accordancewith the data on page 8.145290725145029004350(10)(20)(50)(100)Valve pressure drop pv in PSI (bar)(200)(300)9/20
RA 29 093/06.98Stroke in %Spool response time with stepped electrical input signals100signal change in %0 – 100750 – 75500 – 50250 – 2501020Size 16measured at ps 2030 PSI(140 bar), an oil viscosity ofν 150 SUS (32 mm2/s)and t 104 F (40 C)030Time in ms102030Frequency response curves: measured at ν 150 SUS (32 mm2/s) and t 104 F (40 C)Size 16pilot pressure ps 2030 PSI (140 bar)0– 3– 5270–10180–1590–20–25–301251020Frequency in Hz50100Phase lag in degreesAmplitude response in dB 5Signal 5%Signal 25%Signal 100%0200Flow in GPM (L/min)Flow / load function at max. valve opening (tolerance 10%)(460)121(300)80When using spooltypes E, W, Q2 theflow must be correctedin accordance with thedata on page 8.(200)53(100)26.5145290(10)(20)10/20Size 16725145029004350(50)(100)Valve pressure drop pv in PSI (bar)(200)(300)
RA 29 093/06.98Spool response time with stepped electrical input signalssignal change in %0 – 100750 – 75Stroke in %100500 – 50250 – 25051015Size 25measured at ps 2030 PSI(140 bar), an oil viscosity ofν 150 SUS (32 mm2/s)and t 104 F (40 C)020Time in ms5101520Frequency response curves: measured at ν 150 SUS (32 mm2/s) and t 104 F (40 C)Size 25pilot pressure ps 2030 PSI (140 bar)0– 3– 5270–10180–1590–20–25–301251020Frequency in Hz50100Phase lag in degreesAmplitude response in dB 5Signal 5%Signal 25%Signal 100%0200Flow / load function at max. valve opening (tolerance 10%)265(870)230(500)135(350)95(220)(200)60Flow in GPM (L/min)(1000)Size 25HWhen using spooltypes E, W, Q2 theflow must be correctedin accordance with thedata on page 8.145290(10)(20)725145029004350(50)(100)Valve pressure drop pv in PSI (bar)(200)(300)11/20
RA 29 093/06.98Spool response time with stepped electrical input signalssignal change in %0 – 100750 – 75Stroke in %100500 – 50250 – 2501020Size 32measured at ps 2030 PSI(140 bar), an oil viscosity ofν 150 SUS (32 mm2/s)and t 104 F (40 C)030Time in ms102030Frequency response curves: measured at ν 150 SUS (32 mm2/s) and t 104 F (40 C)Size 32Pilot pressure pS 2030 PSI (140 bar)0– 3– 5270–10180–1590–20Phase lag in Amplitude response in dB 5Signal 5%Signal 25%Signal 100%–25–301251020Frequency in Hz501000200Flow / load function at max. valve opening (tolerance 10%)Flow in GPM (L/min)(1600)420When using spooltypes E, W, Q2 theflow must be correctedin accordance with thedata on page 10)(20)12/20Size 32725145029004350(50)(100)Valve pressure drop pv in PSI (bar)(200)(300)
RA 29 093/06.98Spool response time with stepped electrical input signalsSize 35Signal change in %0 –100750 – 75Stroke in %100500 – 50250 – 250103020measured at ps 2030 PSI(140 bar), an oil viscosity ofν 150 SUS (32 mm2/s)and t 104 F (40 C)400Time in ms10204030Frequency response curves: measured at ν 150 SUS (32 mm2/s) and t 104 F (40 C)Size 35Pilot pressure pS 2030 PSI (140 bar)0– 3– 5270–10180–1590–20Phase lag in Amplitude response in dB 5Signal 5%Signal 25%Signal 100%–25–301251020Frequency in Hz501000200Flow in GPM (L/min)Flow / load function at max. valve opening (tolerance 45290(10)(20)Size 35When using spooltypes E, W, Q1 theflow must be correctedin accordance with thedata on page 8.725145029004350(50)(100)Valve pressure drop pv in PSI (bar)(200)(300)13/20
RA 29 093/06.98Unit Dimensions, Size 10: dimensions in inches 4(34.9)1.063(27)4.252(108)0.0004/4.0 in0.01/100 mm32G 534/05 (3/4"NPT) G 534/12 (SAE-12; 1-1/16-12)G 535/05 (3/4"NPT) G 535/12 (SAE-12; 1-1/16-12)G 536/05 (1"NPT) G 536/12 (SAE-16; 1-5/16-12)Subplates to data sheet RA 45 054 and valve mounting boltsmust be ordered separatelyvalve mounting bolts4) 1/4-20 UNC x 1-3/4" (M6 x 45 mm)(UNC bolt kit part no. US00 833 367)Socket head cap screws, SAE grade 8 or betterTightening torque 11 lb-ft (15.5 Nm)Subplate and valve mounting bolts must be orderedseparately, see RA 45 054(Rmax 4)Subplates1Pilot valve2Sandwich plate directional valve(only included in design ".WG.")3Only for model WRDE.4Main valve5Name plate14/2067O-ring 12 mm x 2 mm(R-ring 13.0 mm x 1.6 mm x
– Pilot operated 3-stage high-response control valve with elect-rical positional feedback of the control spool in the third stage Position acquisition of the control spool via inductive positional transducer – 2-stage pilot valve, model 4 WS 2 EM 6-1X – Particularly suitable for closed loop positon, speed, pressure and
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