Lika RD6 Series User Manual Download Page 3

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General contents

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General contents

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Subject Index

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Typographic and iconographic conventions

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Preliminary information

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1 Safety summary..................................................................................................................................... 9

2   Identification....................................................................................................................................... 11
3   Mechanical installation..................................................................................................................... 12
4   Electrical connections........................................................................................................................ 16

4.1 Ground connection (Figure 5)...............................................................................................................................16
4.2 Connectors (Figure 4 and Figure 5).....................................................................................................................17

4.2.1 Power supply connector.................................................................................................................................17
4.2.2 Modbus interface connectors (BUS IN and BUS OUT).......................................................................18

4.3 Diagnostic LEDs (Figure 4 and Figure 6)...........................................................................................................19
4.4 DIP switches (Figure 4 and Figure 6)..................................................................................................................21

4.4.1 Setting the node address: Node ID (Figure 7).......................................................................................22
4.4.2 Setting the Baud rate and Parity bit (Figure 7)....................................................................................23
4.4.3 RT bus termination (Figure 7)......................................................................................................................24

5 Quick reference................................................................................................................................... 25

5.7.1 If an installation issue occurs......................................................................................................................39

5.8 Getting started.............................................................................................................................................................41

6 Functions.............................................................................................................................................. 42

6.1 Working principle.......................................................................................................................................................42
6.2 Movements: jog and positioning.........................................................................................................................43

Jog: speed control........................................................................................................................................................43
Positioning: position and speed control.............................................................................................................44

6.3 Distance per revolution [0x00], Jog speed [0x0D], Work speed [0x0E], Preset [0x12-0x13],

Positive delta [0x09-0x0A] and Negative delta [0x0B-0x0C].....................................................................46

7 Modbus® interface............................................................................................................................. 49

7.1 Modbus Master / Slaves protocol principle.....................................................................................................49
7.2 Modbus frame description......................................................................................................................................50
7.3 Transmission modes...................................................................................................................................................51

7.3.1 RTU transmission mode..................................................................................................................................52

7.4 Function codes.............................................................................................................................................................54

7.4.1 Implemented function codes.......................................................................................................................54

03 Read Holding Registers

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Summary of Contents for RD6 Series

Page 1: ...User s guide RD6 RS 485 version Smart encoders actuators ...

Page 2: ...ion herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s r l Lika Electronic s r l reserves the right to make all modifications at any moments and without forewarning This manual is periodically reviewed and revised As required we suggest checking if a new or updated edition of this document is available at Lika Electronic s r l s website Lika...

Page 3: ...bus termination Figure 7 24 5 Quick reference 25 5 1 Configuring the device using Lika s setting up software 25 5 2 Serial configuration page 26 5 3 Operative mode page 28 5 4 Parameter page 34 5 5 Message monitor page 35 5 6 Test Lika page 36 5 7 Upgrade Firmware page 37 5 7 1 If an installation issue occurs 39 5 8 Getting started 41 6 Functions 42 6 1 Working principle 42 6 2 Movements jog and p...

Page 4: ...ork speed 0x0E 69 Code sequence 0x0F 69 Offset 0x10 0x11 69 Preset 0x12 0x13 69 Jog step length 0x14 70 Extra commands register 0x29 70 Control by PC 70 Control Word 0x2A 71 Jog 71 Jog 71 Stop 72 Alarm reset 72 Incremental jog 72 Start 73 Emergency 73 Watch dog enable 73 Save parameters 73 Load default parameters 74 Setting the preset 74 Release axis torque 74 Target position 0x2B 0x2C 74 8 1 2 In...

Page 5: ... 80 Temperature value 0x07 80 Wrong parameters list 0x08 0x09 81 Motor voltage 0x0A 81 Current value 0x0B 82 Hall 0x0C 82 Duty cycle 0x0D 82 DIP switch baud rate 0x0E 82 DIP switch node ID 0x0F 82 SW Version 0x10 82 HW Version 0x11 83 8 2 Exception codes 85 9 Programming examples 86 9 1 Using the 03 Read Holding Registers function code 86 9 2 Using the 04 Read Input Register function code 87 9 3 U...

Page 6: ...g 71 J Jog 70 Jog 70 Jog speed 0x0D 67 Jog step length 0x14 69 K Ki position loop 0x06 65 Kp position loop 0x05 65 L Load default parameters 73 M Machine data not valid 75 Max following error 0x03 0x04 65 Motor Overtemperature 76 Motor voltage 0x0A 80 N Negative delta 0x0B 0x0C 67 O Offset 0x10 0x11 68 Overcurrent 76 Overvoltage 77 P Position following error 0x05 0x06 79 Position window 0x01 65 Po...

Page 7: ...nt to highlight the parts of the text where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to guarantee the safety of the user and a correct use of the device Failure to heed a warning or comply with instructions could lead to personal injury and or damage to the unit or other equipment This i...

Page 8: ...herCAT interface RD6 x xxx MB Modbus RTU RS 485 interface RD6 x xxx PB Profibus DP interface RD6 x xxx PL POWERLINK interface The present manual is specifically designed to describe the Modbus interface model For information on the actuators designed for the integration into other fieldbus Ethernet networks please refer to the specific documentation In the Modbus version the configuration of the D...

Page 9: ...re to comply with these requirements 1 2 Electrical safety Turn OFF power supply before connecting the device connect according to explanation in the Electrical connections section a safety push button for emergency power off must be installed to shut off the motor power supply in case of emergency situations in compliance with 2014 30 UE norm on electromagnetic compatibility following precautions...

Page 10: ...erposed WARNING The unit has been adjusted by performing a full load mechanical running test thence default values which has been set refer to a device running in such condition Furthermore they are intended to ensure a standard and safe operation which not necessarily results in a smooth running and an optimum performance Thus to suit the specific application requirements it may be advisable and ...

Page 11: ...mation is listed in the delivery document too Please always quote the order code and the serial number when reaching Lika Electronic for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue MAN RD6 MB E 1 1 Identification 11 of 92 RD6 Modbus ...

Page 12: ...nce operations have to be carried out by qualified personnel only with power supply disconnected Motor and shaft must be in stop values are expressed in mm Figure 1 RD6 P8 157 unit Overall dimensions MAN RD6 MB E 1 1 Mechanical installation 12 of 92 RD6 Modbus ...

Page 13: ... values are expressed in mm Figure 2 RD6 P8 250 unit Overall dimensions Figure 3 Installation example of an RD6 unit MAN RD6 MB E 1 1 Mechanical installation 13 of 92 RD6 Modbus ...

Page 14: ...ge 1 couple and fasten the actuator and the planetary gearbox 4 together using the screws 3 or 5 according to the mounting configuration properly secure the shaft of the actuator and the shaft of the planetary gearbox 4 it could be advisable to install a coupling between the actuator and the planetary gearbox 4 mount the shaft of the planetary gearbox 4 on the drive s shaft and properly secure the...

Page 15: ...suggest using the ground screw provided in the frame see the Figure above Connect properly the cable shield to ground on user s side Lika s EC pre assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device Lika s E connectors have a plastic gland thus grounding is not possible If metal connectors are used connect the cabl...

Page 16: ...ply connector Power supply M18 4 pin male connector frontal side Pin Description 1 motor 24Vdc 10 power supply 2 controller 24Vdc 10 power supply 3 motor 0Vdc supply voltage 4 controller 0Vdc supply voltage NOTE Wire gauge of the mating connector cable 1 50 mm2 max Please consider the consumption of both the motor and the controller to evaluate the better configuration see the datasheet MAN RD6 MB...

Page 17: ...connected NOTE We suggest always connecting the cable shield to ground on user s side Lika s EC pre assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device Lika s E connectors have a plastic gland thus grounding is not possible see Figure below If metal connectors are used connect the cable shield properly as recommend...

Page 18: ...Diagnostic LEDs 5 Internal housing for DIP switches L1 Not used L5 Controller power supply information L2 Not used L6 Fieldbus interface status information L3 Not used L7 Active errors faults information L4 Not used L8 Motor power supply information LED L5 GREEN Description ON It indicates that the power supply of the controller is turned on OFF It indicates that the power supply of the controller...

Page 19: ...re page section on page 36 and the 5 7 1 If an installation issue occurs section on page 38 Blinking at 10 Hz While downloading data to the flash memory for upgrading the firmware of the unit see the 5 7 Upgrade Firmware page section on page 36 the LED blinks red at 10 Hz LED L5 LED L6 LED L7 Description GREEN ON GREEN ON RED ON While downloading data to the flash memory for upgrading the firmware...

Page 20: ...s Figure 4 and Figure 6 WARNING The power supply must be turned off before performing this operation NOTE When performing this operation be careful not to damage the connection wires To access the DIP switches unscrew and pull out the screw plug 5 Figure 6 in the back of the enclosure Be careful to replace the screw plug at the end of the operation The DIP switches are located just beneath the scr...

Page 21: ...xchange Master sends a request to all Slaves connected to the Modbus network See the 7 1 Modbus Master Slaves protocol principle section on page 48 The Modbus Master node has no specific address only the Slave nodes must have an address Each Slave must have a unique address Addresses from 248 to 255 are reserved If you set an address higher than 247 the device will be set to 247 automatically The ...

Page 22: ...bit 0000 9600 bit s No parity 1000 default 9600 bit s Even 0100 9600 bit s Odd 1100 19200 bit s No parity 0010 19200 bit s Even 1010 19200 bit s Odd EXAMPLE Set the baud rate to 9600 bits per second and parity bit to Even Switches 1 2 3 4 Position ON OFF OFF OFF Value 1 0 0 0 The data transmission rate which is currently set in the unit can be read next to the DIP switch baud rate 0x0E register se...

Page 23: ... transmission line i e it is either the first or the last device in the transmission line Use the RT switch to activate or deactivate the bus termination RT Description 1 2 ON Activated when the actuator is either the first or the last device in the transmission line 1 2 OFF Deactivated when the actuator is neither the first nor the last device in the transmission line MAN RD6 MB E 1 1 Electrical ...

Page 24: ...e icon To close the program press the DISCONNECT button in the Serial Configuration page and then click the CLOSE button in the title bar WARNING Please be sure to comply with the following compatibilities between the HW SW version of the actuator and the software release of the Modbus executable file Compatibility HW SW EXE Modbus 1 0 1 0 from V1 0 to NOTE Before starting the program connect the ...

Page 25: ...e USB Serial Converter and the USB Serial Port first The drivers are available in the Software folder of the actuator and downloadable from Lika s web site 5 2 Serial configuration page When you start the program the Serial configuration page is first displayed First of all this page allows the operator to choose the language used to display texts and items in the user interface Click on the Itali...

Page 26: ... port settings Default value Baud rate 9600 Byte size 8 Parity Even Stop bits 1 To configure the serial port of the RD6 device refer to the 4 4 2 Setting the Baud rate and Parity bit Figure 7 section on page 22 Then set the node address of the device the personal computer is connected to through the Slave settings box default value for all RD6 Modbus positioning units 1 To set the node address of ...

Page 27: ...he DRIVECOD unit has been detected and the communication has been established successfully 5 3 Operative mode page Press the OPERATIVE MODE button in the sidebar menu to start programming controlling manually and monitoring the device The following page will appear When you first enter the Operative mode page for safety reasons the RD6 unit is necessarily in an emergency condition therefore the Em...

Page 28: ...ons are available Jog See the Jog item on page 70 Pos pulse See the Current position 0x02 0x03 item on page 79 Jog See the Jog item on page 70 Emergency When an emergency condition occurs the Emergency button is highlighted in red press the button to restore the normal work condition of the device When the unit is running press the button to force an immediate halt in emergency condition See the E...

Page 29: ...halt press the EMERGENCY button See the Start item on page 72 Release torque See the Release axis torque item on page 73 Jog step See the Incremental jog item on page 71 Watch dog See the Watch dog enable item on page 72 Target pulse See the Target position 0x2B 0x2C item on page 73 Set the position you need the unit to reach and then press the ENTER key in the keyboard to confirm it As soon as yo...

Page 30: ... loop function i e the device goes on running and executing the set steps without interruption If the INFINITE LOOP check box is selected when you press the START button the device starts moving in order to reach the first commanded position STEP pulse and WAIT s items are highlighted in yellow as soon as the commanded position set next to the STEP pulse item is reached the device stops and the fi...

Page 31: ...ved automatically To load a previously saved work program press the LOAD PROGR button Once you press the button the Open dialog box appears on the screen the operator must open the folder where the previously saved prg file is located then select it and finally confirm the choice by pressing the OPEN button the dialog box closes and the work values are automatically loaded RESET PRG button zero se...

Page 32: ...of transmitted messages the number of received messages and the errors Transmitted Request PDUs Received Response PDUs Errors Exception Response PDUs For complete information on the communication between the Master and the Slave please refer to the Message monitor page see the 5 5 Message monitor page section on page 34 In the bottom left hand States and Alarms boxes the list of states and alarms ...

Page 33: ...the ENTER key in the keyboard If you set a value that is not allowed out of range at confirmation prompt the field is highlighted in red and the RD6 unit is forced in alarm condition the Alarm status bit is activated and the Machine data not valid and or Emergency error messages are invoked to appear Enter a valid value and then press the RESET ALARM button in the Operative mode page to restore th...

Page 34: ... the machine data parameters and the relevant default values as set by Lika Electronic are available on page 91 SW LS SW LS They are available in the box over the SAVE PARAMETER and LOAD DEFAULT buttons They show visually the set positive and negative limit switch values See the Positive delta 0x09 0x0A item on page 66 and the Negative delta 0x0B 0x0C item on page 67 5 5 Message monitor page By pr...

Page 35: ... file has to be located When you press the OPEN button to confirm the dialog box closes and the full path of the selected file is shown in the display box of the Message monitor page Now press the START SAVING button to start saving the messages the File opened properly message appears on the display box After pressing the START SAVING button its descriptive label is replaced by STOP SAVING label ...

Page 36: ...an be easily updated by the user himself This allows Lika Electronic to make new improved firmware programs available during the lifetime of the product Typical reasons for the release of new firmware programs are the necessity to make corrections improve and even add new functionalities to the device The firmware upgrading program consists of a single file having BIN extension It is released by L...

Page 37: ... unit go online and then enter the Upgrade Firmware page 4 when you switch on the power supply if the LED L5 is solidly lit green and the LED L7 blinks red at 2 Hz the user program is not present in the flash memory you are not able to connect to the unit through the Serial configuration page when this happens you need to enter directly the Upgrade Firmware page make sure that the correct serial p...

Page 38: ...lation issue occurs While downloading the firmware upgrading program unexpected conditions may arise which could lead to a failure of the installation process When such a matter occurs the download process cannot be carried out successfully and thus the operation is aborted the LEDs L5 L6 and L7 come on green red see on page 18 as explained hereafter LED L5 SOLIDLY LIT GREEN AND L7 BLINKING RED AT...

Page 39: ...LATION ABORTED warning message is invoked to appear in the box in the bottom of the Upgrade Firmware page The upgrading process is necessarily aborted and the unit cannot work as the firmware has been deleted before starting the update To restore the work condition of the unit the operator must shut down and then switch on the DRIVECOD unit first then close and restart the SW_RD6_MODBUS_X EXE prog...

Page 40: ...et a proper value next to the Distance per revolution 0x00 item register 1 see on page 64 set a proper value next to the Jog speed 0x0D item register 13 see on page 67 set a proper value next to the Work speed 0x0E item register 14 see on page 68 if required set a proper value next to the Preset 0x12 0x13 item registers 18 19 see on page 68 set the limit switch values next to the Positive delta 0x...

Page 41: ...6 Functions 6 1 Working principle The following scheme is intended to show schematically the working principle of the system control logic MAN RD6 MB E 1 1 Functions 41 of 92 RD6 Modbus ...

Page 42: ... 0x2A is 1 the motor accelerates toward the positive direction according to the value set next to the Acceleration 0x07 register if the available travel is long enough it reaches the speed set next to the Jog speed 0x0D register As soon as the bit 0 Jog in the Control Word 0x2A goes low 0 the motor decelerates according to the value set next to the Deceleration 0x08 register until it stops Setting...

Page 43: ... speed set next to the Work speed 0x0E register The movement direction can be either positive or negative according to the target position to reach As soon as the axis is within the tolerance window limits set next to the Position window 0x01 register the bit 8 Target position reached in the Status word 0x01 goes high 1 When the position is within the tolerance window limits set next to the Positi...

Page 44: ...sition value even on the fly while the device is still reaching a previously commanded target position and without sending a new Start command To do this just set a new target value in the Target position 0x2B 0x2C registers MAN RD6 MB E 1 1 Functions 44 of 92 RD6 Modbus ...

Page 45: ...em bit 9 in the Control Word 0x2A register see on page 72 Each time you change the value in Distance per revolution 0x00 you must then update the value in Preset 0x12 0x13 in order to define the zero of the axis as the system reference has changed After having changed the parameter in the Preset 0x12 0x13 registers it is not necessary to set new values for the travel limits as the Preset function ...

Page 46: ... per revolution 0x00 4096 steps per revolution Max Work speed 0x0E 2000 rpm Preset 0x12 0x13 0 Positive delta 0x09 0x0A and Negative delta 0x0B 0x0C max values 134 213 631 4 096 steps per revolution x 32 768 revolutions 1 4 096 steps i e 1 revolution for safety reasons when Preset 0x12 0x13 0 Max SW limit switch 0 134 213 631 134 213 631 pulses forward travel Max SW limit switch 0 134 213 631 134 ...

Page 47: ...A and Negative delta 0x0B 0x0C 100 steps per revolution 32 768 revolutions 1 100 steps i e 1 revolution for safety reasons 3 276 699 pulses Max SW limit switch 500 3 276 699 3 276 199 pulses forward travel Max SW limit switch 500 3 276 699 3 277 199 pulses backward travel Therefore when Preset 0x12 0x13 500 the working stroke of the axis will span the following positive and negative limits range t...

Page 48: ...ode The Slave nodes will never communicate with each other The Master node initiates only one Modbus transaction at the same time The Master node issues a Modbus request to the Slave nodes in two modes UNICAST mode in that mode the Master addresses an individual Slave After receiving and processing the request the Slave returns a message a reply to the Master In that mode a Modbus transaction cons...

Page 49: ...se it places its own address in the response ADDRESS FIELD to let the Master know which Slave is responding FUNCTION CODE the function code indicates to the Server what kind of action to perform The function code can be followed by a DATA field that contains request and response parameters For any further information on the implemented function codes refer to the 7 4 Function codes section on page...

Page 50: ...lly contains information such as variable references variable counts data offsets sub function etc n bytes The Modbus Exception Response PDU is defined as exception function_code exception_code where exception function_code Modbus function code 0x80 1 byte exception_code Modbus Exception code refer to the table Modbus Exception Codes in the section 7 of the document Modbus Application Protocol Spe...

Page 51: ...nd the next byte will be the first of a new message i e an address When baud rate 9600 bit s the silent interval is 4 ms When baud rate 19200 bit s the silent interval is 2 ms The format 11 bits for each byte in RTU mode is as follows Coding system 8 bit binary Bits per Byte 1 start bit 8 data bits least significant bit lsb sent first 1 bit for parity completion Even 1 stop bit Modbus protocol use...

Page 52: ...send a second request at the same time When the link is in Idle state each transmitted character detected on the link is identified as the start of the frame The link goes to Active state Then the end of the frame is identified when no more character is transmitted on the link after the time interval of at least t3 5 After detection of the end of frame the CRC calculation and checking is completed...

Page 53: ...n code will be unique Reserved function codes are not available for public use 7 4 1 Implemented function codes Lika RD6 Modbus positioning units only implement public function codes they are described hereafter 03 Read Holding Registers FC 03 Hex 0x03 ro This function code is used to READ the contents of a contiguous block of holding registers in a remote device in other words it allows to read t...

Page 54: ...st Response Field name Hex Field name Hex Function 03 Function 03 Starting address Hi 00 Byte count 04 Starting address Lo 07 Register 8 value Hi 03 No of registers Hi 00 Register 8 value Lo E8 No of registers Lo 02 Register 9 value Hi 05 Register 9 value Lo DC As you can see in the table Acceleration 0x07 parameter register 8 contains the value 03 E8 hex i e 1000 in decimal notation Deceleration ...

Page 55: ...ion 0x07 03 E8 hex 1000 dec 05 DC value of register 9 Deceleration 0x08 05 DC hex 1500 dec 78 8A CRC 04 Read Input Register FC 04 Hex 0x04 This function code is used to READ from 1 to 125 contiguous input registers in a remote device in other words it allows to read some results values and state alarm messages in a remote device The Request PDU specifies the starting register address and the numbe...

Page 56: ... a request to read the Current position 0x02 0x03 parameter input registers 3 and 4 Request Response Field name Hex Field name Hex Function 04 Function 04 Starting address Hi 00 Byte count 04 Starting address Lo 02 Register 3 value Hi 00 Quantity of Input Reg Hi 00 Register 3 value Lo 00 Quantity of Input Reg Lo 02 Register 4 value Hi 2F Register 4 value Lo F0 As you can see in the table the Curre...

Page 57: ... address 04 04 Read Input Register function code 04 number of bytes 2 bytes for each register 00 00 value of register 3 Current position 0x02 0x03 00 00 hex 0 dec 2F F0 value of register 4 Current position 0x02 0x03 2F F0 hex 12272 dec E7 F0 CRC 06 Write Single Register FC 06 Hex 0x06 This function code is used to WRITE a single holding register in a remote device The Request PDU specifies the add...

Page 58: ...re is an example of a request to write the value 05 DC hex 1500 dec in the Acceleration 0x07 parameter register 8 Request Response Field name Hex Field name Hex Function 06 Function 06 Register address Hi 00 Register address Hi 00 Register address Lo 07 Register address Lo 07 Register value Hi 05 Register value Hi 05 Register value Lo DC Register value Lo DC As you can see in the table the value 0...

Page 59: ...follows Response PDU in hexadecimal format 01 06 00 07 05 DC 3A C2 where 01 Slave address 06 06 Write Single Register function code 00 07 address of the register Acceleration 0x07 parameter register 8 05 DC value set in the register 3A C2 CRC 16 Write Multiple Registers FC 16 Hex 0x10 This function code is used to WRITE a block of contiguous registers 1 to 123 registers in a remote device The valu...

Page 60: ...0x10 0x80 Exception code 1 byte 01 or 02 or 03 or 04 Here is an example of a request to write the values 1500 and 1000 dec in the parameters Acceleration 0x07 register 8 and Deceleration 0x08 register 9 respectively Request Response Field name Hex Field name Hex Function 10 Function 10 Starting address Hi 00 Starting address Hi 00 Starting address Lo 07 Starting address Lo 07 Quantity of registers...

Page 61: ...ion code 00 07 starting address Acceleration 0x07 parameter register 8 00 02 number of requested registers 04 number of bytes 2 bytes for each register 05 DC value to be set in the register 8 Acceleration 0x07 05 DC hex 1000 dec 03 E8 value to be set in the register 9 Deceleration 0x08 03 E8 hex 1500 dec 73 C1 CRC The full frame needed to send back a response following the request to write the val...

Page 62: ...ock conditions For instance should the serial communication be cut off while a command is still active and running a jog command for example the Watch dog safety system immediately takes action and commands a safety stop of the device furthermore an alarm is triggered To enable the Watch dog function set to 1 the Watch dog enable bit in the Control Word 0x2A variable If 0 is set the Watch dog is n...

Page 63: ...parameter structure byte MSB LSB bit 15 8 7 0 msb lsb msb lsb Unsigned32 parameter structure word MSW LSW bit 31 16 15 0 msb lsb msb lsb 8 1 1 Holding Register parameters Holding registers Machine data parameters are accessible for both writing and reading to read the value set in a parameter use the 03 Read Holding Registers function code reading of multiple registers to write a value in a parame...

Page 64: ...istance per revolution 0x00 500 at each shaft revolution the system performs a 5 mm pitch with one hundredth of a millimetre resolution Default 4096 min 1 max 4096 WARNING After having changed this parameter you must then set new values also next to the Preset 0x12 0x13 parameter For a detailed explanation see on page 45 and relevant parameters Please note that the parameters listed hereafter are ...

Page 65: ...econds See also the Positioning position and speed control section on page 43 Default 0 min 0 max 10000 Max following error 0x03 0x04 Registers 4 5 Unsigned32 rw This parameter defines the maximum allowable difference between the real position and the theoretical position of the device If the device detects a value higher than the one set in this parameter the Following error alarm is triggered an...

Page 66: ...d 0x01 the bit is forced high The parameter is expressed in pulses SW limit switch Preset 0x12 0x13 Positive delta 0x09 0x0A For further information please refer to the 6 3 Distance per revolution 0x00 Jog speed 0x0D Work speed 0x0E Preset 0x12 0x13 Positive delta 0x09 0x0A and Negative delta 0x0B 0x0C section on page 45 Default 134 213 631 min 0 max 134 213 631 WARNING Every time Distance per rev...

Page 67: ...x09 0x0A and Negative delta 0x0B 0x0C values has to be checked carefully Each time you change the value in Distance per revolution 0x00 you must then update the value in Preset 0x12 0x13 in order to define the zero of the shaft as the system reference has now changed After having changed the parameter in Preset 0x12 0x13 it is not necessary to set new values for travel limits as the Preset functio...

Page 68: ...lated by the controller to be necessarily affected Therefore it is compulsory to set a new value in the Preset 0x12 0x13 parameter and then check the values set next to the Positive delta 0x09 0x0A and Negative delta 0x0B 0x0C items Offset 0x10 0x11 Registers 17 18 Integer32 ro This variable defines the difference between the position value transmitted by the device and the real position real posi...

Page 69: ...nation see on page 45 Jog step length 0x14 Register 21 Unsigned16 rw If the incremental jog function is enabled bit 4 Incremental jog in the Control Word 0x2A 1 the activation of the bits Jog and Jog causes a single step toward the positive or negative direction having the length expressed in pulses set next to this item to be executed at rising edge then the actuator stops and waits for another c...

Page 70: ...he Jog step length 0x14 item to be executed at rising edge then the actuator stops and waits for another command Velocity acceleration and deceleration are performed according to the values set next to the Jog speed 0x0D Acceleration 0x07 and Deceleration 0x08 parameters respectively For a detailed description of the jog control see on page 42 Jog Jog and Start functions cannot be enabled simultan...

Page 71: ... For an immediate halt in the movement use the bit 7 Emergency Alarm reset bit 3 This command is used to reset an alarm condition of the Slave but only if the fault condition has ceased In a normal work condition this bit is set to 0 Setting this bit to 1 causes the normal work status of the device to be restored The normal work status is resumed by switching this bit from 0 to 1 Please note that ...

Page 72: ...h dog enable bit to 0 causes the Watch dog function to be disabled When the Watch dog function is enabled if the device does not receive a message from the Server within 1 second the system forces an alarm condition the Watch dog alarm is invoked to appear as soon as the Modbus network communication is restored The Watch dog function is a safety timer that uses a time out to detect loop or deadloc...

Page 73: ...que bit 12 When the axis has reached the commanded position it maintains the torque If set to 0 when the axis is in position the PWM is kept active If set to 1 when the axis is in position the PWM is deactivated the torque is released bits 13 15 Not used WARNING For safety reasons the Control Word 0x2A holding register parameter is not stored in the memory So it is required to be set after each po...

Page 74: ...e it is moving to the target position the jog command will be ignored if Jog and Jog commands are sent simultaneously the device will not move or if already moving it will stop its movement When the Watch dog function is enabled Watch dog enable in Control Word 0x2A is set to 1 should the device be disconnected from the Modbus network while it is moving for instance because of a broken cable or a ...

Page 75: ...ot valid bit 0 One or more parameters are not valid set proper values to restore the normal work condition See the list of the wrong parameters in the Wrong parameters list 0x08 0x09 item Flash memory error bit 1 Internal error it cannot be restored Counting error bit 2 For safety reasons both the absolute encoder position and the incremental encoder position are read and saved to two separate reg...

Page 76: ...temperature is within the range Undervoltage bit 10 The power supply voltage is under the minimum ratings allowed Please ensure that the power supply voltage is within the range Watch dog bit 11 When the Watch dog function is enabled bit 8 Watch dog enable in Control Word 0x2A is set to 1 if the device does not receive a message from the Server within 1 second the system forces an alarm condition ...

Page 77: ...The normal work status is resumed by switching this bit from 0 to 1 This command resets the alarm but only if the fault condition has ceased Please note that should the alarm be caused by wrong parameter values see Machine data not valid and Wrong parameters list 0x08 0x09 the normal work status can be restored only after having set proper values The Flash memory error alarm cannot be reset Status...

Page 78: ...e is 1 should it happen that the device reaches the maximum negative limit negative limit switch For more information see the Negative delta 0x0B 0x0C parameter Alarm bit 5 The value is 1 when an alarm occurs see details in the Alarms register 0x00 variable Axis running bit 6 The value is 0 while the device is not moving The value is 1 while the device is moving Executing a command bit 7 The value...

Page 79: ...ters 6 7 Integer32 ro This variable contains the difference between the target position and the current position step by step If this value is greater than the one set in the Max following error 0x03 0x04 parameter then the Following error alarm is triggered and the unit stops The value is expressed in pulses Temperature value 0x07 Register 8 Integer16 ro This variable shows both the temperature o...

Page 80: ...cture shown in the following table Please note that the normal work status can be restored only after having set proper values Bit Parameter 0 Not used 1 Distance per revolution 0x00 2 Acceleration 0x07 3 Deceleration 0x08 4 Positive delta 0x09 0x0A 5 Negative delta 0x0B 0x0C 6 Jog speed 0x0D 7 Work speed 0x0E 8 Code sequence 0x0F 9 Preset 0x12 0x13 10 Jog step length 0x14 11 Kp position loop 0x05...

Page 81: ...ation on setting the baud rate refer to the 4 4 2 Setting the Baud rate and Parity bit Figure 7 section on page 22 DIP switch node ID 0x0F Register 16 Unsigned16 ro This is meant to show the node address set in the RD6 unit the node address has to be set through the provided DIP switch For any further information on setting the node ID refer to the 4 4 1 Setting the node address Node ID Figure 7 s...

Page 82: ...quipped with the following interface 0x10 Modbus 0x11 Profibus 0x12 CANopen 0x13 POWERLINK 0x14 EtherCAT Value 10 01 hex in hexadecimal notation corresponds to the binary representation 0001 0000 0000 0001 and has to be interpreted as follows hardware version 1 LSbyte 0x01 RD6 model with Modbus interface MSbyte 0x10 NOTE Save the set values using the Save parameters function Should the power be tu...

Page 83: ...ord 0x01 Axis in position bit 0 Status word 0x01 Axis enabled bit 2 Status word 0x01 PWM is active Theoretical velocity EXAMPLE 2 Jog RD6 Jog bit 0 Control Word 0x2A Executing a command bit 7 Status word 0x01 Axis running bit 6 Status word 0x01 Axis enabled bit 2 Status word 0x01 PWM is active Theoretical velocity MAN RD6 MB E 1 1 Programming parameters 83 of 92 RD6 Modbus ...

Page 84: ...ntiate it from a normal response FUNCTION CODE FIELD in a normal response the Server echoes the function code of the original request in the function code field of the response All function codes have a most significant bit msb of 0 their values are all below 80 hexadecimal In an exception response the Server sets the msb of the function code to 1 This makes the function code value in an exception...

Page 85: ...7 starting address Acceleration 0x07 parameter register 8 00 02 number of requested registers 75 CA CRC Response PDU 01 03 04 03 E8 05 DC 78 8A where 01 Slave address 03 03 Read Holding Registers function code 04 number of bytes 2 bytes for each register 03 E8 value of register 8 Acceleration 0x07 03 E8 hex 1000 dec 05 DC value of register 9 Deceleration 0x08 05 DC hex 1500 dec 78 8A CRC Accelerat...

Page 86: ... code 04 number of bytes 2 bytes for each register 00 00 value of register 3 Current position 0x02 0x03 00 00 hex 0 dec 2F F0 value of register 4 Current position 0x02 0x03 2F F0 hex 12272 dec E7 F0 CRC Current position 0x02 0x03 parameter registers 3 and 4 contains the value 00 00 2F F0 hex i e 12272 in decimal notation EXAMPLE 2 Request to read the Alarms register 0x00 variable register 1 to the...

Page 87: ...s for each register 00 81 value of register 1 Alarms register 0x00 00 81 hex 0000 0000 1000 0001 bin 79 50 CRC This means that in the Alarms register 0x00 variable register 1 the bits 0 and 7 are active logic level high 1 i e see on page 75 Machine data not valid and Emergency MAN RD6 MB E 1 1 Programming examples 87 of 92 RD6 Modbus ...

Page 88: ...dress 06 06 Write Single Register function code 00 07 address of the register Acceleration 0x07 parameter register 8 05 DC value set in the register 3A C2 CRC The value 05 DC hex i e 1500 in decimal notation is set in the Acceleration 0x07 parameter register 8 EXAMPLE 2 Request to write the value 00 84 hex in the Control Word 0x2A variable register 43 of the Slave having the node address 1 Request...

Page 89: ...aving the node address 1 Request PDU 01 06 00 2A 0A 80 AF 02 where 01 Slave address 06 06 Write Single Register function code 00 2A address of the register Control Word 0x2A variable register 43 0A 80 value to be set in the register AF 02 CRC Response PDU 01 06 00 2A 0A 80 AF 02 where 01 Slave address 06 06 Write Single Register function code 00 2A address of the register Control Word 0x2A variabl...

Page 90: ... 2 bytes for each register 05 DC value to be set in the register 8 Acceleration 0x07 05 DC hex 1000 dec 03 E8 value to be set in the register 9 Deceleration 0x08 03 E8 hex 1500 dec 73 C1 CRC Response PDU 01 10 00 07 00 02 F0 09 where 01 Slave address 10 16 Write Multiple Registers function code 00 07 starting address Acceleration 0x07 parameter register 8 00 02 number of written registers F0 09 CR...

Page 91: ...ion loop 0x05 80 Ki position loop 0x06 10 Acceleration 0x07 rev s2 10 Deceleration 0x08 rev s2 10 Positive delta 0x09 0x0A P 134213631 Negative delta 0x0B 0x0C P 134213631 Jog speed 0x0D rpm 2000 Work speed 0x0E rpm 2000 Code sequence 0x0F 0 Preset 0x12 0x13 P 0 Jog step length 0x14 P 1000 Control Word 0x2A 0 Target position 0x2B 0x2C 0 MAN RD6 MB E 1 1 Default parameters list 91 of 92 RD6 Modbus ...

Page 92: ...nterface 1 0 10 06 2016 First issue 1 1 0 1 0 1 1 25 07 2016 Connectors new shaft dimensions Modbus interface release 1 1 1 1 0 1 1 Lika Electronic Via S Lorenzo 25 36010 Carrè VI Italy Tel 39 0445 806600 Fax 39 0445 806699 info lika biz www lika biz ...

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