RHINO MOTION CONTROLS
RMCS-1120
Hybrid Servo Driver with Modbus RTU communication
(Max. 50Vdc and 7A per phase)
http://www.rhinomc.com
Page 7
Hybrid AC Driver [RMCS-1120]
For example, some valid Control Query Frames for Drive would be like:
1.
0x01, 0x03, 0x00, 0x00, 0x00, 0x0F, CRC16 – This Query will expect a read of 15 Slave Registers
starting from address 0x0000 as a response from Drive with Slave Address 0x01.
2.
0x00, 0x05, 0x00, 0x00, 0x00, 0x00, CRC16 – This Query will set all the Slave Drives’ Parameters
to their default values.
3.
0x01, 0x06, 0x20, 0x04, 0x00, 0x00, CRC16 – This Query will Set Value 0x0000 to the Register at
address 0x2004 of Drive, that will start the Motor.
Modbus Register Table
Parameter
Description
Address
Decimal
Address
Data Type
Default
Max
PP_GAIN
Position P Gain
0X0000
0
Signed
256
30000
PFF_GAIN
Feed Forward Gain
0X0001
1
signed
50
30000
PD_GAIN
Position D Gain
0X0002
2
signed
300
30000
PV_GAIN
Velocity P Gain
0X0003
3
signed
600
30000
IV_GAIN
Velocity I Gain
0x0004
4
signed
80
1000
DV_GAIN
Velocity D Gain
0X0005
5
signed
300
30000
C_LIMIT
Current Limit
0X0006
6
signed
2400
4000
CP_GAIN
Current P Gain
0X0007
7
signed
100
1000
CI_GAIN
Current I Gain
0X0008
8
signed
100
1000
C_TRIGGER
Current Trigger
Level
0X0009
9
signed
1200
4000
FLT_TIME_CN
ST
Input Filter Time
0X000A
10
signed
0
100
PFA_GAIN
Acceleration FeedF
0X000B
11
byte
7
100
I_MUL
Input Multiplier
0X000B
11
byte
1
8
SLVADDR
Modbus Slave
Address
0X000C
12
byte
1
247
ENC_PPR
Encoder CPR
0X000D
13
signed
4000
10000
M_POLES
Motor Poles Count
0X000E
14
byte
50
100
