Lika RD4, User Manual

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General contents
User's guide...............................................................................................................................................................................................1
General contents................................................................................................................................................................................3
Subject Index.......................................................................................................................................................................................7
Typographic and iconographic conventions..........................................................................................................................9
Preliminary information...............................................................................................................................................................10
1 Safety summary.................................................................................................................................. 11
1.1 Safety..........................................................................................................................................................................11
1.2 Electrical safety......................................................................................................................................................11
1.3 Mechanical safety..................................................................................................................................................12
2 Identification....................................................................................................................................... 13
3 Mechanical installation..................................................................................................................... 14
4 Electrical connections........................................................................................................................ 17
4.1 Ground connection (Figure 3)..........................................................................................................................17
4.2 Connectors (Figure 3)...........................................................................................................................................18
4.3 Diagnostic LEDs (Figure 3).................................................................................................................................20
4.4 Dip-Switches (Figure 4).......................................................................................................................................21
4.4.1 Setting the node address: Node ID (Figure 4)...................................................................................22
4.4.2 Setting the data transmission rate: Baud rate (Figure 4)............................................................23
4.4.3 RT bus termination (Figure 4)...................................................................................................................23
5 Quick reference................................................................................................................................... 24
6 Functions.............................................................................................................................................. 25
6.1 Working principle..................................................................................................................................................25
6.2 Movements: jog and positioning....................................................................................................................26
6.3 Digital inputs and outputs.................................................................................................................................27
6.4 Objects 3120-00 Distance per revolution, 3114-00 Jog speed, 3115-00 Work speed, 3300-
00 Preset and 310F Delta space.........................................................................................................................28
7 CANopen® interface........................................................................................................................... 32
7.1 EDS files.....................................................................................................................................................................32
7.2 NMT states................................................................................................................................................................33
7.2.1 Initialization.....................................................................................................................................................33
7.2.2 Pre-operational state...................................................................................................................................34
7.2.3 Operational state...........................................................................................................................................34
7.2.4 Stopped state..................................................................................................................................................34
7.3 Communication messages.................................................................................................................................35
7.3.1 Generic pre-defined connection set.....................................................................................................36
7.4 NMT messages.........................................................................................................................................................36
7.6 PDO messages.........................................................................................................................................................37
7.6.1 “RECEIVE PDO1” message sent by the Master to the Slave........................................................38
Control Word............................................................................................................................................................................38
Jog +........................................................................................................................................................................................38
Jog -.........................................................................................................................................................................................38
Stop..........................................................................................................................................................................................39
Alarm reset...........................................................................................................................................................................39
Incremental jog..................................................................................................................................................................39
Start.........................................................................................................................................................................................39
Emergency............................................................................................................................................................................39